Abstract
This paper highlights the main functional features of the first prototype of WheTLHLoc, a hybrid leg-wheel-track ground mobile robot. WheTLHLoc is conceived as a general-purpose surveillance and inspection platform, which combines several distinctive features: tracked locomotion on irregular and/or yielding grounds, high efficiency wheeled locomotion on flat and compact terrains, step/stairs climbing and descent ability to allow motion in structured and unstructured environments. The architecture of the hybrid locomotion system is outlined, then the internal mechanical arrangement and the actuation and control layout are discussed.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Quaglia, G., Visconte, C., Scimmi, L.S., Melchiorre, M., Cavallone, P., Pastorelli, S.: Design of a UGV powered by solar energy for precision agriculture. Robotics 9(13), 1–13 (2020)
Chun, W.H., Papanikolopoulos, N.: Robot surveillance and security. In: Siciliano, B., Khatib, O. (eds.) Springer Handbook of Robotics, pp. 1605–1626. Springer, Cham (2016). https://doi.org/10.1007/978-3-319-32552-1_61
Saputra, R.P., et al.: Resqbot 2.0: an improved design of a mobile rescue robot with an inflatable neck securing device for safe casualty extraction. Appl. Sci. 11, 5154 (2021)
Murphy, R.R.: Rescue robotics for homeland security. Commun. ACM 47(3), 66–68 (2004)
Bruzzone, L., Quaglia, G.: Review article: locomotion systems for ground mobile robots in unstructured environments. Mech. Sci. 3(2), 49–62 (2012)
Herbert, S.D., Drenner, A., Papanikolopoulos, N.: Loper: a quadruped-hybrid stair climbing robot. In: Proceedings of the 2008 IEEE Conference on Robotics and Automation, Pasadena, CA, pp. 799–804 (2008)
Quinn, R.D., et al.: Parallel complementary strategies for implementing biological principles into mobile robots. Int. J. Rob. Res. 22(3), 169–186 (2003)
Bruzzone, L., Fanghella, P.: Functional redesign of Mantis 2.0, a hybrid leg-wheel Robot for surveillance and inspection. J. Intell. Rob. Syst. 81(2), 215–230 (2016). https://doi.org/10.1007/s10846-015-0240-0
Siegwart, R., Lauria, M., Maeusli, P.A., Van Winnendael, M.: Design and implementation of an innovative micro rover. In: Proceedings of Robotics 98, the 3rd Conference and Exposition on Robotics in Challenging Environments, Albuquerque, New Mexico, pp. 1–7 (1998)
Quaglia, G., Butera, L.G., Chiapello, E., Bruzzone, L.: UGV epi.q-mod. Mech Machine Sci. 22, 331–339 (2014)
Quaglia, G., Bruzzone, L., Oderio, R., Razzoli, R.P.: EPI.Q mobile robots family. In: Proceedings of the ASME 2011 International Mechanical Engineering Congress and Exposition, IMECE 2011, vol. 7, no. PARTS A AND B, pp. 1165–1172 (2011)
Lauria, M., Piquet, Y., Siegwart, R.: OCTOPUS: an autonomous wheeled climbing robot. In: Proceedings of the 5th International Conference on Climbing and Walking Robots (CLAWAR), Paris, France, pp. 315–322 (2002)
Bruzzone, L., Baggetta, M., Nodehi, S.E., Bilancia, P., Fanghella, P.: Functional design of a hybrid leg-wheel-track ground mobile robot. Machines 9(1), 10, 1–11 (2021)
Bruzzone, L., Fanghella, P.: Mantis hybrid leg-wheel robot: stability analysis and motion law synthesis for step climbing. In: Proceedings of MESA 2014 - 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Senigallia, Italy, p. 6935540 (2014)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Bruzzone, L., Nodehi, S.E., Belotti, V., Fanghella, P. (2022). Actuation and Control Layout of the Hybrid Locomotion Ground Mobile Robot WheTLHLoc. In: Niola, V., Gasparetto, A., Quaglia, G., Carbone, G. (eds) Advances in Italian Mechanism Science. IFToMM Italy 2022. Mechanisms and Machine Science, vol 122. Springer, Cham. https://doi.org/10.1007/978-3-031-10776-4_78
Download citation
DOI: https://doi.org/10.1007/978-3-031-10776-4_78
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-10775-7
Online ISBN: 978-3-031-10776-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)