Abstract
One of the challenges in today’s mobile robotics is the design of high mobility and maneuverability robots. In this work we present the design and construction of a new concept of a locomotion system for mobile robots. It consists of a hybrid leg-wheel module that can be attached to the main body of a robot in a similar way to a conventional wheel. The mechanical configuration of the driving module is described, emphasizing the characteristics which make it different from other hybrid locomotion systems. A dynamic model that simulates the movement of the module was developed to analyze its behavior and to test different control algorithms that were subsequently implemented on the real module. Finally, we have carried out a series of simple experiments that demonstrate the correct operation of the module on flat ground without obstacles.
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