Experimental Validation of a Gait Planning for Obstacle Avoidance Using Mecanum Wheels

  • Ernesto Christian Orozco-MagdalenoEmail author
  • Daniele Cafolla
  • Eduardo Castillo-Castañeda
  • Giuseppe Carbone
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


In the last years the autonomy in service robots became an important feature to develop different kinds of indoor and outdoor service tasks, like sur-veillance or inspection in hospitals. This autonomy is not only related to power consumption, it is also related with the capability to avoid obstacles without crashing. The aim of this paper is to present the experimental validation of a gait planning for obstacle avoidance with Cassino Hexapod III, a wheeled-legged hy-brid hexapod robot, with an omni-wheeled locomotion. Experimental test is car-ried out to demonstrate the motion capability of Cassino Hexapod III to dodge an obstacle in front of it.


Omni-wheeled locomotion Obstacle avoidance Hexapod robot Experimental robotics 


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The paper presents results from the research activities of the pro-ject ID 37_215, MySMIS code 103415 "Innovative approaches regarding the rehabili-tation and assistive robotics for healthy ageing" co-financed by the European Regional Development Fund through the Competitiveness Operational Programme 2014-2020, Priority Axis 1, Action 1.1.4, through the financing contract 20/01.09.2016, between the Technical University of Cluj-Napoca and ANCSI as Intermediary Organism in the name and for the Ministry of European Funds.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Ernesto Christian Orozco-Magdaleno
    • 1
    Email author
  • Daniele Cafolla
    • 2
  • Eduardo Castillo-Castañeda
    • 1
  • Giuseppe Carbone
    • 3
  1. 1.Instituto Politecnico NacionalSantiago de QuerétaroMexico
  2. 2.IRCCS NeuromedPozzilli ISItaly
  3. 3.University of Cassino and South LatiumCassino FRItaly

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