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Realistic 3D Simulation of a Hybrid Legged-Wheeled Robot

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Robotics for Sustainable Future (CLAWAR 2021)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 324))

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Abstract

In order to study the behavior and performance of a robot, building its simulation model is crucial. Realistic simulation tools using physics engines enable faster, more accurate and realistic testing conditions, without depending on the real vehicle. By combining legged and wheeled locomotion, hybrid vehicles are specially useful for operating in different types of terrains, both indoors and outdoors. They present increased mobility, versatility and adaptability, as well as easier maneuverability, when compared to vehicles using only one of the mechanisms. This paper presents the realistic simulation through the SimTwo simulator software of a hybrid legged-wheeled robot. It has four 3-DOF (degrees of freedom) legs combining rigid and non-rigid joints and has been fully designed, tested and validated in the simulated environment with incorporated dynamics.

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Acknowledgements

This work is financed by National Funds through the Portuguese funding agency, FCT - Fundação para a Ciência e a Tecnologia within project UIDB/50014/2020.

Author information

Authors and Affiliations

  1. FEUP—Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465, Porto, Portugal

    Inês N. Soares, Vítor H. Pinto & Paulo Costa

  2. CRIIS—Centre for Robotics in Industry and Intelligent Systems, INESC TEC—Institute for Systems and Computer Engineering, Technology and Science, Campus of FEUP, Rua Dr. Roberto Frias, 4200-465, Porto, Portugal

    Vítor H. Pinto, José Lima & Paulo Costa

  3. Research Centre in Digitalization and Intelligent Robotics, CeDRI, Polytechnic Institute of Bragança, Santa Apolónia Campus, 5300-253, Bragança, Portugal

    José Lima

Authors
  1. Inês N. Soares
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  2. Vítor H. Pinto
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  3. José Lima
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  4. Paulo Costa
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Corresponding author

Correspondence to Inês N. Soares .

Editor information

Editors and Affiliations

  1. Department of Engineering, Kwansei Gakuin University, Hyogo, Japan

    Daisuke Chugo

  2. School of Engineering, London South Bank University, London, UK

    Mohammad Osman Tokhi

  3. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  4. Chuo University, Bunkyo-ku, Tokyo, Japan

    Taro Nakamura

  5. School of Engineering, University of Lincoln, Lincolnshire, UK

    Khaled Goher

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Soares, I.N., Pinto, V.H., Lima, J., Costa, P. (2022). Realistic 3D Simulation of a Hybrid Legged-Wheeled Robot. In: Chugo, D., Tokhi, M.O., Silva, M.F., Nakamura, T., Goher, K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_27

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