A hybrid legged-wheeled obstacle avoidance strategy for service operations

Ernesto Christian Orozco-Magdaleno, Daniele Cafolla, Eduardo Castillo-Castañeda, Giuseppe Carbone

Research output: Contribution to journalArticlepeer-review

3 Scopus citations

Abstract

Hybrid legged-wheeled robots are gaining interest in various service applications, like surveillance or inspection in hospitals. The autonomy of these robots is not only related to their power consumption, it mostly refers to their capability to safely move in complex partially structured environments. This paper proposes to investigate the combination of different moving strategies and sensors to enhance the adaptability and autonomy of a hybrid hexapod robot in specific environments shared with humans. Namely, this paper proposes a locomotion strategy that combines leg motions and Mecanum omniwheels with multiple sensory feedbacks to achieve safe obstacle avoidance during a service operation. Several experimental tests are carried out by using Cassino Hexapod III in combination with sonar, IMU and Lidar sensors at IRCCS Neuromed site in Pozzilli. Experimental results show the effectiveness of the proposed operation strategy with Cassino Hexapod III to avoid multiple obstacles.

Original languageEnglish
Article number329
JournalSN Applied Sciences
Volume2
Issue number3
DOIs
StatePublished - Mar 2020

Keywords

  • Experimental robotics
  • Mobile robot
  • Obstacle avoidance
  • Service robotics

Fingerprint

Dive into the research topics of 'A hybrid legged-wheeled obstacle avoidance strategy for service operations'. Together they form a unique fingerprint.

Cite this