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Design, modeling, and control of an autonomous legged-wheeled hybrid robotic vehicle with non-rigid joints

2021Journal article Open access
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dc.contributor.authorPinto, Vítor H.
dc.contributor.authorSoares, Inês N.
dc.contributor.authorRocha, Marco
dc.contributor.authorLima, José
dc.contributor.authorGonçalves, José
dc.contributor.authorCosta, Paulo Gomes da
dc.date.accessioned2021-11-24T14:21:38Z
dc.date.available2021-11-24T14:21:38Z
dc.date.issued2021
dc.description.abstractThis paper presents a legged-wheeled hybrid robotic vehicle that uses a combination of rigid and non-rigid joints, allowing it to be more impact-tolerant. The robot has four legs, each one with three degrees of freedom. Each leg has two non-rigid rotational joints with completely passive components for damping and accumulation of kinetic energy, one rigid rotational joint, and a driving wheel. Each leg uses three independent DC motors—one for each joint, as well as a fourth one for driving the wheel. The four legs have the same position configuration, except for the upper hip joint. The vehicle was designed to be modular, low-cost, and its parts to be interchangeable. Beyond this, the vehicle has multiple operation modes, including a low-power mode. Across this article, the design, modeling, and control stages are presented, as well as the communication strategy. A prototype platform was built to serve as a test bed, which is described throughout the article. The mechanical design and applied hardware for each leg have been improved, and these changes are described. The mechanical and hardware structure of the complete robot is also presented, as well as the software and communication approaches. Moreover, a realistic simulation is introduced, along with the obtained results.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationPinto, Vítor H.; Soares, Inês N.; Rocha, Marco; Lima, José; Gonçalves, José; Costa, Paulo Gomes da (2021). Design, modeling, and control of an autonomous legged-wheeled hybrid robotic vehicle with non-rigid joints. Applied Sciences. ISSN 2076-3417. 11:13, p. 1-26pt_PT
dc.identifier.doi10.3390/app11136116pt_PT
dc.identifier.issn2076-3417
dc.identifier.urihttp://hdl.handle.net/10198/24403
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/pt_PT
dc.subjectControl designpt_PT
dc.subjectState spacept_PT
dc.subjectLegged-wheeledpt_PT
dc.subjectHybridpt_PT
dc.subjectRobotpt_PT
dc.subjectMechatronicspt_PT
dc.titleDesign, modeling, and control of an autonomous legged-wheeled hybrid robotic vehicle with non-rigid jointspt_PT
dc.typejournal article
dspace.entity.typePublication
oaire.citation.conferencePlaceApplied Sciences-Basel Volume 11, Issue 13, Pages 6116 (26)pt_PT
oaire.citation.issue13pt_PT
oaire.citation.startPage6116pt_PT
oaire.citation.titleApplied Sciencespt_PT
oaire.citation.volume11pt_PT
person.familyNameLima
person.familyNameGonçalves
person.givenNameJosé
person.givenNameJosé
person.identifierR-000-8GD
person.identifierR-000-7ZW
person.identifier.ciencia-id6016-C902-86A9
person.identifier.ciencia-id8112-DCE2-D025
person.identifier.orcid0000-0001-7902-1207
person.identifier.orcid0000-0002-5499-1730
person.identifier.ridL-3370-2014
person.identifier.ridB-8547-2018
person.identifier.scopus-author-id55851941311
person.identifier.scopus-author-id48361230200
rcaap.rightsopenAccesspt_PT
rcaap.typearticlept_PT
relation.isAuthorOfPublicationd88c2b2a-efc2-48ef-b1fd-1145475e0055
relation.isAuthorOfPublication6a3b0b39-7fe9-4450-94f4-ced3941947da
relation.isAuthorOfPublication.latestForDiscoveryd88c2b2a-efc2-48ef-b1fd-1145475e0055

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