A hybrid platform for an Unmanned Ground Vehicle (UGV), one with legs and wheels, was initially considered to yield a design that possessed a high degree of intrinsic mobility. Integrating a high level of mobility reduces the UGV's perception and computational requirements for successful semi-autonomous or autonomous terrain negotiation. An investigation into the dynamic capabilities of the hybrid design revealed a large amount of otherwise impossible behaviors. The widened scope of maneuvers enabled the simulated robot to negotiate higher obstacles, clear larger ditches and generally improved its rough terrain mobility. A scalability study was also undertaken to predict dynamic potential of various platform sizes and to aid in the selection of design specifications such as motor torque-speed curves. The hybrid design of the platform (legs with active wheels) proved invaluable in achieving these dynamic behaviors and revealed that the leg-wheel design was as fundamental to dynamic capabilities, as it was to intrinsic mobility.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Dynamic behaviors for a hybrid leg-wheel mobile platform


    Contributors:

    Conference:

    Unmanned Ground Vehicle Technology IV ; 2002 ; Orlando,FL,United States


    Published in:

    Publication date :

    2002-07-17





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Dynamic behaviors for a hybrid leg-wheel mobile platform [4715-11]

    Steeves, C. / Buehler, M. G. / Penzes, S. G. et al. | British Library Conference Proceedings | 2002


    Mobile platform and Mecanum wheel

    WANG WEIXIANG | European Patent Office | 2024

    Free access

    Wheel-track switching mobile platform

    HU YAOHUA / FENG JUNZHE / SHI XIAOYI et al. | European Patent Office | 2023

    Free access

    Mecanum wheel and mobile platform

    LIU YEQING | European Patent Office | 2024

    Free access

    Mecanum wheel and mobile platform

    WANG WEIXIANG | European Patent Office | 2024

    Free access