A six-legged hybrid walking and wheeled robot

Cubero, Samuel Nacion (2000) A six-legged hybrid walking and wheeled robot. In: Mechatronics and machine vision. Robotics and Mechatronics Series (3). Research Studies Press, Baldock, Hertfordshire, England, pp. 293-302. ISBN 0 86380 261 3

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Abstract

[Abstract]: This paper discusses the mechanics and control specifications of a hybrid walking and wheeled robot currently being built at the Curtin University of Technology, Western Australia. The vehicle, called the “Hydrobug”, is designed to transport three adult passengers over extremely rugged and broken terrain in “walking mode”, and when commanded, it will be able to travel quickly over relatively smooth roads and surfaces in “wheeled” or 4-wheel-drive mode. The need for high speed, low cost and useful large scale walking vehicles is highlighted, followed by a brief discussion of the main mechanical design concepts, hydraulic circuit and control architecture for this new type of hybrid walking and wheeled vehicle.


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Item Type: Book Chapter (Commonwealth Reporting Category B)
Refereed: Yes
Item Status: Live Archive
Additional Information: Proceedings of the 7th annual Conference on Mechatronics and Machine Vision in Practice. Published version deposited with permission of the Editor. 2 print copies held in USQ Library at call no. 621 Mec.
Depositing User: epEditor USQ
Faculty / Department / School: Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering
Date Deposited: 20 Aug 2009 06:10
Last Modified: 02 Jul 2013 23:22
Uncontrolled Keywords: walking robot, adaptive suspension vehicle, hydraulic servo control, adaptive gait, computer simulation, real-time rendering
Fields of Research (FOR2008): 09 Engineering > 0910 Manufacturing Engineering > 091007 Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)
URI: http://eprints.usq.edu.au/id/eprint/5581

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