In order to study the behavior and performance of a robot, building its simulation model is crucial. Realistic simulation tools using physics engines enable faster, more accurate and realistic testing conditions, without depending on the real vehicle. By combining legged and wheeled locomotion, hybrid vehicles are specially useful for operating in different types of terrains, both indoors and outdoors. They present increased mobility, versatility and adaptability, as well as easier maneuverability, when compared to vehicles using only one of the mechanisms. This paper presents the realistic simulation through the SimTwo simulator software of a hybrid legged-wheeled robot. It has four 3-DOF (degrees of freedom) legs combining rigid and non-rigid joints and has been fully designed, tested and validated in the simulated environment with incorporated dynamics.


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    Title :

    Realistic 3D Simulation of a Hybrid Legged-Wheeled Robot


    Additional title:

    Lect. Notes in Networks, Syst.


    Contributors:

    Conference:

    Climbing and Walking Robots Conference ; 2021 August 30, 2021 - September 01, 2021



    Publication date :

    2021-09-04


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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