A six-legged hybrid walking and wheeled robot

Edited book (chapter)

Cubero, Samuel Nacion. 2000. "A six-legged hybrid walking and wheeled robot." Billingsley, John (ed.) Mechatronics and machine vision. Baldock, Hertfordshire, England. Research Studies Press. pp. 293-302
Chapter Title

A six-legged hybrid walking and wheeled robot

Book Chapter CategoryEdited book (chapter)
Book TitleMechatronics and machine vision
Authors
AuthorCubero, Samuel Nacion
EditorsBillingsley, John
Page Range293-302
SeriesRobotics and Mechatronics Series
Number of Pages10
Year2000
PublisherResearch Studies Press
Place of PublicationBaldock, Hertfordshire, England
ISBN0863802613
Abstract

[Abstract]: This paper discusses the mechanics and control specifications of a hybrid walking and wheeled robot currently being built at the Curtin University of Technology, Western Australia. The vehicle, called the “Hydrobug”, is designed to transport three adult passengers over extremely rugged and broken terrain in “walking mode”, and when commanded, it will be able to travel quickly over relatively smooth roads and surfaces in “wheeled” or 4-wheel-drive mode. The need for high speed, low cost and useful large scale walking vehicles is highlighted, followed by a brief discussion of the main mechanical design concepts, hydraulic circuit and control architecture for this new type of hybrid walking and wheeled vehicle.

Keywordswalking robot, adaptive suspension vehicle, hydraulic servo control, adaptive gait, computer simulation, real-time rendering
ANZSRC Field of Research 2020400707. Manufacturing robotics
Public Notes

Proceedings of the 7th annual Conference on Mechatronics and Machine Vision in Practice. Published version deposited with permission of the Editor.

Byline AffiliationsCurtin University of Technology
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