Development of a mobile robot controlled by three motors for a hostile environment

Abstract

In this study a hybrid legged/wheeled mobile robot, KAMOBOT, is developed. 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, go over obstacles, move along curvilinear paths and rotate around its geometric center. Such manoeuvrability can be achieved by using only three electric motors. In this study HLV structure, gate modes, path planning and dynamics and control are analyzed in detail.