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http://dx.doi.org/10.5391/JKIIS.2014.24.3.304

Design of Hybrid Wheeled and Legged Mobile Robot with a Waist Joint  

Choi, Dae-Gyu (Dept. of Electrical, Electronic and Control Engineering, Hankyong National University)
Jeong, Dong-Hyuk (Dept. of Electrical, Electronic and Control Engineering, Hankyong National University)
Kim, Yong-Tae (Dept. of Electrical, Electronic and Control Engineering, Hankyong National University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.24, no.3, 2014 , pp. 304-309 More about this Journal
Abstract
In this paper, we design a hybrid wheeled and legged mobile robot with a waist joint. The proposed hybrid mobile robot is designed to have a hybrid structure with leg and wheel for the efficient movement in flat and uneven surfaces. The proposed robot have a waist joint that is used to stably transform from wheeled driving to legged walking of the robot and to overcome non-flat surface. In order to recognize various environments we use LRF sensor, PSD sensor, CCD camera. Also, a motion planning method for hybrid mobile robot with a waist joint is proposed to select wheeled driving motion and legged walking motion of the robot based the environment types. We verify the efficient mobility of the developed hybrid mobile robot through navigation experiments using the proposed motion planning method in various environments.
Keywords
Mobile robot; Hybrid wheeled and legged structure; Quadruped robot; Waist joint;
Citations & Related Records
Times Cited By KSCI : 7  (Citation Analysis)
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