Development of a novel quadruped hybrid wheeled-legged mobile robot with telescopic legs
Shuaiby Mohamed,
YoungWoo Im,
HyeonSang Shin
et al.
Abstract:This paper presents a novel design of a quadruped hybrid leg-wheel mobile robot comprising two DOFs (a prismatic joint and a revolute joint) for the legs and one rotational joint for the wheel. The study begins by detailing the design of the structure and mechanism of the proposed system. We created the dynamic model of the proposed robot using MATLAB Simscape Multibody. The legged mode gait is developed using three supporting legs and one transferring leg. We developed a walking algorithm for the quadruped ro… Show more
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