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The wheeleg robot

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2 Author(s)
Guccione, S. ; Dipt. Elettrico Elettronico e Sistemistico, Universita degli Studi di Catania, Italy ; Muscato, Giovanni

This article describes a hybrid wheeled/legged robot, called the Wheeleg robot. The Wheeleg robot consists of wheels and legs separated but always acting together to locomote the system. A detailed description of the Wheeleg robot from a mechanical and electrical point of view is provided. Some considerations concerning the computing architecture are made, and some experimental results obtained in the laboratory and on volcanic terrain are given.

Published in:

Robotics & Automation Magazine, IEEE  (Volume:10 ,  Issue: 4 )