The wheeleg robot - Control strategies, computing architectures, and experimental results of the hybrid wheeled/legged robot

摘要

This article describes a hybrid wheeled/legged robot, called the Wheeleg robot. The Wheeleg robot consists of wheels and legs separated but always acting together to locomote the system. A detailed description of the Wheeleg robot from a mechanical and electrical point of view is provided. Some considerations concerning the computing architecture are made, and some experimental results obtained in the laboratory and on volcanic terrain are given.