RT Conference Proceedings
T1 Design of a driving module for a hybrid locomotion robot
A1 Castillo-Aguilar, Juan Jesús
K1 Robots autónomos - Diseño
AB One of the challenges in today’s mobile robotics is the design of high mobility and maneuverabilityrobots. In this work we present the design and construction of a new concept of a locomotionsystem for mobile robots. It consists of a hybrid leg-wheel module that can be attached to the mainbody of a robot in a similar way to a conventional wheel. The mechanical configuration of the drivingmodule is described, emphasizing the characteristics which make it different from other hybrid locomotionsystems. A dynamic model that simulates the movement of the module was developed to analyzeits behavior and to test different control algorithms that were subsequently implemented on the realmodule. Finally, we have carried out a series of simple experiments that demonstrate the correctoperation of the module on flat ground without obstacles.
YR 2014
FD 2014-09-23
LK http://hdl.handle.net/10630/8075
UL http://hdl.handle.net/10630/8075
LA eng
NO Es el diseño de un sistema de locomoción híbrida para un robot móvil
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 23 ene 2026