바퀴-다리 복합형 이동 로봇의 설계 및 주행분석

Abstract

A hybrid legged.wheeled mobile robot is developed in this study. The mobile robot has a six-legged, cylindrical configuration, each leg of which is equipped with a wheel at the bottom. The robot can go up and down stairs, do over obstales, move along curvilinear paths and rotate around its geometric center. Such maneuverability can be achived by using only three electric motors. The robot structure, possibile gates, path planning algorithms and motion control algorithms are presented in detail this paper.