Design improvements and control of a hybrid walking robot
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 robots operation and to improve the prototypes behavior. The designed control system and simulation results have been reported to show the operation of the prototype.
hybrid walking robots control systems mobile robots mechanism design