The control strategies, computing architectures and experimental results of the hybrid wheeled/legged robot are discussed. The robot, designed and built at the robot laboratory of the Dipartimento Elettrico Elettronico e Sistemistico at the University of Catania, Italy, has two front cylindrical type legs and two independent rear wheels. The robot has two pneumatically actuated front legs, each with three degrees of freedom (3 DOF) and two rear wheels independently actuated by using two distinct dc motors. The robot is built to investigate the capabilities of the legged structures on the rough terrain.
|Titolo:||Control Strategies Computing architectures and Experimental Results of the Hybrid Robot Wheeleg|
|Data di pubblicazione:||2003|
|Appare nelle tipologie:||1.1 Articolo in rivista|