Design, Manufacturing and Testing of a Hybrid Locomotion Mobile Robot “HyLMoR”

Abstract

The hybrid mobile robots evolved as a solution to challenges faced by individual mobility mechanism, were various modes of portability is required. Selection of locomotion is an important criterion while designing a mobile robot. Robot environment are mostly dynamic and unpredictable, it varies from time to time especially in catastrophic scenarios. Hence such a system requires multiple locomotion to tackle the environmental difficulties. Hybrid mobility enhances the flexibility and maneuverability of the robot. This research proposes a hybrid mobile robot, which is an integration of quadrotor and quadruped system. The aerial locomotion is achieved through quadrotor system and terrain locomotion is accomplished through quadruped system. The four-legged system provide easy movements under uneven terrain and quadcopter provides quick and agile motion tackling sizable objects by aerial locomotion. Thus, this platform can be utilized for fiasco zone assistance and reconnaissance where stability, maneuverability and adaptability are required. This paper illustrates the design, manufacturing and testing of a mobile robot “HyLMoR” with terrain and aerial locomotion ability.