Azimut: a multimodal locomotion robotic platform

摘要

Other than from its sensing and processing capabilities, a mobile robotic platform can be limited in its use by its ability to move in the environment. A wheeled robot works well on flat surfaces. Tracks are useful over rough terrains, while legs allow a robot to move over obstacles. In this paper we present a new concept of mobile robot with the objective of combining different locomotion mechanisms on the same platform to increase its locomotion capabilities. After presenting a review of multi-modal robotic platforms, we describe the design of our robot called AZIMUT. AZIMUT combines wheels, legs and tracks to move in three-dimensional environments. The robot is symmetrical and is made of four independent leg-track-wheel articulations. It can move with its articulations up, down or straight, or move sideways without changing the robot's orientation. The robot could be used in surveillance and rescue missions, exploration or operation in hazardous environments.