Hybrid legged-wheeled Robotic platforms: survey on existing solutions

Moreira, João; Soares, Inês N.; Lima, José; Pinto, Vítor H.; Costa, Paulo Gomes da

http://hdl.handle.net/10198/27388

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Authors

Costa, Paulo Gomes da

Abstract(s)

This survey analyses and compares ten different robots capable of hybrid locomotion in an attempt to elucidate the readers on several aspects of importance when designing and implementing a leggedwheeled vehicle. With this purpose in mind, the robots are compared based on their goals, kinematic configurations, joint specifications andoverall performance. In this text, their variety and versatility is presented, justifying their use in real-world scenarios.

Keywords

Hybrid robotic locomotion Legged-wheeled platforms Survey Kinematic configurations

URI

http://hdl.handle.net/10198/27388

Citation

Moreira, João; Soares, Inês N.; Lima, José; Pinto, Vítor H. ;Costa, Paulo (2023). Hybrid legged-wheeled Robotic platforms: survey on existing solutions. In 25th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2022. Ponta Delgada. p. 140 - 151