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Hybrid Locomotion of Leg-Wheel ASTERISK H

Hybrid Locomotion of Leg-Wheel ASTERISK H <jats:p>Leg-wheel hybrid locomotion on rough terrain we propose for a hexapod robot is realized by continuous transition between wheeled and legged locomotion based on sensor feedback. In basic positioning on a flat surface, the robot is supported by three legs and moves using its wheels. Upon sensing an obstacle, the robot’s support and swing legs change to a tripod gait with an oval orbit to cross over the obstacle. The maximum obstacle height depends on the robot’s height and the positioning of the foreleg. We analyzed optimal positioning implemented in the hybrid robot ASTERISK H, as confirmed by experimental results.</jats:p> http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Journal of Robotics and Mechatronics CrossRef

Hybrid Locomotion of Leg-Wheel ASTERISK H


Abstract

<jats:p>Leg-wheel hybrid locomotion on rough terrain we propose for a hexapod robot is realized by continuous transition between wheeled and legged locomotion based on sensor feedback. In basic positioning on a flat surface, the robot is supported by three legs and moves using its wheels. Upon sensing an obstacle, the robot’s support and swing legs change to a tripod gait with an oval orbit to cross over the obstacle. The maximum obstacle height depends on the robot’s height and the positioning of the foreleg. We analyzed optimal positioning implemented in the hybrid robot ASTERISK H, as confirmed by experimental results.</jats:p>

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Publisher
CrossRef
ISSN
1883-8049
DOI
10.20965/jrm.2008.p0403
Publisher site
See Article on Publisher Site

Abstract

<jats:p>Leg-wheel hybrid locomotion on rough terrain we propose for a hexapod robot is realized by continuous transition between wheeled and legged locomotion based on sensor feedback. In basic positioning on a flat surface, the robot is supported by three legs and moves using its wheels. Upon sensing an obstacle, the robot’s support and swing legs change to a tripod gait with an oval orbit to cross over the obstacle. The maximum obstacle height depends on the robot’s height and the positioning of the foreleg. We analyzed optimal positioning implemented in the hybrid robot ASTERISK H, as confirmed by experimental results.</jats:p>

Journal

Journal of Robotics and MechatronicsCrossRef

Published: Jun 20, 2008

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