Referenced Items are not available for this document.
We introduce the design of a leg-wheel hybrid platform Quattroped. Comparing to most hybrid platforms which have separate mechanisms of wheels and legs, this robot is implemented with a transformation mechanism which directly changes the morphology of wheels (i.e. a full circle) into 2 degree-of-freedom legs (i.e. combining two half-circles as a leg). The mechatronics, software infrastructure, and the initial experimental test of the robot are also reported.
Published in:
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Date of Conference: 10-15 Oct. 2009
- Page(s):
- 4682 - 4687
- E-ISBN :
- 978-1-4244-3804-4
- Print ISBN:
- 978-1-4244-3803-7
- INSPEC Accession Number:
- 11009574
- Conference Location :
- St. Louis, MO
- Digital Object Identifier :
- 10.1109/IROS.2009.5353958
- Product Type:
- Conference Publications
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