A design of a new leg-wheel walking robot

Abstract

In this paper the analysis and design are presented for a 1-DOF (degree-of-freedom) leg-wheel walking machine. A preliminary prototype of a low-cost robot, which is capable of a straight walking with only one actuator, has been designed and built at LARM: Laboratory of Robotics and Mechatronics in Cassino. Simulation and experimental validation have been carried out to verify the operation of the prototype.