Simulation of a wheel-leg hybrid robot in Webots

This paper details simulation of a wheel-leg hybrid robot prototype using the Webots development environment. Following assembly of a fully-detailed CAD model, simplification of sub-assemblies before importing the model into the virtual workspace is carried out to reduce complexity of simulation computations and associated runtime delays. Afterwards, reconstruction of the robot's kinematics is performed by associating nested class instances for bounding objects and joints. Analysis of simulation for a set of basic robot motions in structured terrain revealed considerable amounts of friction taking place when performing in-place rotations, which were resolved by modifying the position and orientation of the robot's wheels using the legs' actuators.