Design improvements and control of a hybrid walking robot

• DOI: 10.1016/j.robot.2010.10.002
• Publication Date: 2010-11-13T09:32:44Z
• Authors: Erika Ottaviano; Sergey Vorotnikov; Marco Ceccarelli; Pavel Kurenev
• Keywords: 0209 industrial biotechnology; Mobile robots; Mechanism design; Control systems; Hybrid walking robots; 02 engineering and technology; 0201 civil engineering

In this paper design improvements and control algorithms are presented for a 2-DOF (Degree-Of-Freedom) hybrid leg-wheel walking machine. A prototype of a low-cost robot, which is capable of straight walking and steering with only two actuators, has been designed and built at LARM: Laboratory of Robotics and Mechatronics in Cassino. A control system has been developed in order to control the robot's operation and to improve the prototype's behavior. The designed control system and simulation results have been reported to show the operation of the prototype.