Abstract
The article presents a small-scale prototype of a hybrid locomotion robot combining two types of mobility, i. e. on wheels and on legs. The prototype was developed from the authors’ previous experience with a robot of the same type. Particular attention was devoted to simplifying kinematic layout in order to minimize the number of motors and provide the simplest possible control operations while ensuring a high degree of dexterity and speed. The article describes robot characteristics and the kinematic arrangements permitting motion on horizontal planes, ramps and stairs.
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© 1994 Springer-Verlag/Wien
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Ferraresi, C., Quaglia, G. (1994). A New Hybrid Locomotion Mobile Robot for Semi-structured Environments. In: Kopacek, P. (eds) Robotics in Alpe-Adria Region. Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich. Springer, Vienna. https://doi.org/10.1007/978-3-7091-9346-4_29
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DOI: https://doi.org/10.1007/978-3-7091-9346-4_29
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-82545-7
Online ISBN: 978-3-7091-9346-4
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