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Realistic 3D simulation of a hybrid legged-wheeled robot

2022Conference paper Restricted access
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dc.contributor.authorSoares, Inês N.
dc.contributor.authorPinto, Vítor H.
dc.contributor.authorLima, José
dc.contributor.authorCosta, Paulo Gomes da
dc.date.accessioned2021-09-28T08:58:12Z
dc.date.available2021-09-28T08:58:12Z
dc.date.issued2022
dc.description.abstractIn 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.pt_PT
dc.description.sponsorshipThis work is financed by National Funds through the Portuguese funding agency, FCT - Funda¸c˜ao para a Ciˆencia e a Tecnologia within project UIDB/50014/2020.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationSoares, Inês N.; Pinto, Vítor H.; Lima, José; Costa, Paulo (2022). Realistic 3D simulation of a hybrid legged-wheeled robot. In 24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2021. p. 303-314. ISBN 978-3-030-86293-0pt_PT
dc.identifier.doi10.1007/978-3-030-86294-7_27pt_PT
dc.identifier.isbn978-3-030-86293-0
dc.identifier.urihttp://hdl.handle.net/10198/23936
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.relationINESC TEC- Institute for Systems and Computer Engineering, Technology and Science
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/pt_PT
dc.subjectLegged-wheeledpt_PT
dc.subjectHybridpt_PT
dc.subjectRoboticspt_PT
dc.subjectSimTwopt_PT
dc.titleRealistic 3D simulation of a hybrid legged-wheeled robotpt_PT
dc.typeconference paper
dspace.entity.typePublication
oaire.awardTitleINESC TEC- Institute for Systems and Computer Engineering, Technology and Science
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F50014%2F2020/PT
oaire.citation.endPage314pt_PT
oaire.citation.startPage303pt_PT
oaire.citation.title24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2021pt_PT
oaire.citation.volume324pt_PT
oaire.fundingStream6817 - DCRRNI ID
person.familyNameLima
person.givenNameJosé
person.identifierR-000-8GD
person.identifier.ciencia-id6016-C902-86A9
person.identifier.orcid0000-0001-7902-1207
person.identifier.ridL-3370-2014
person.identifier.scopus-author-id55851941311
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
rcaap.rightsrestrictedAccesspt_PT
rcaap.typeconferenceObjectpt_PT
relation.isAuthorOfPublicationd88c2b2a-efc2-48ef-b1fd-1145475e0055
relation.isAuthorOfPublication.latestForDiscoveryd88c2b2a-efc2-48ef-b1fd-1145475e0055
relation.isProjectOfPublication2957d2e8-0cce-46ca-8e0e-d15ccf4f290e
relation.isProjectOfPublication.latestForDiscovery2957d2e8-0cce-46ca-8e0e-d15ccf4f290e

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