Hybrid legged-wheeled robot path following: a realistic simulation approach

Pinto, Vítor H.; Soares, Inês N.; Ribeiro, Francisco; Lima, José; Gonçalves, José; Costa, Paulo Gomes da

http://hdl.handle.net/10198/27560

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Authors

Costa, Paulo Gomes da

Abstract(s)

Legged-wheeled locomotion systems are a particular case of robot types that can be characterized by an increase in the degrees of freedom. To increase safety and robustness in the performance of industrial robots, while reducing the risk of damage to the robot joints and injure to human operators, the use of non-rigid joints is growing in the literature and in the industry. Realistic simulators are tools capable of detecting rigid bodies interactions through physics engines. This paper presents the simulation model of a hybrid legged wheeled robot, built in the SimTwo simulator. The proposed algorithms for path following control are detailed, along with the tests performed to them. These showed that the errors in linear paths are at most 1 cm. For circular paths, the maximum error is 3 cm.

Keywords

Modeling Simulation Hybrid legged-wheeled robot Path following Algorithms

URI

http://hdl.handle.net/10198/27560

Citation

Pinto, Vítor H.; Soares, Inês N.; Ribeiro, Francisco; Lima, José; Gonçalves, José; Costa, Paulo (2022). Hybrid legged-wheeled robot path following: a realistic simulation approach. In 15th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2022. Caparica. 930, p. 61-72