TY - JOUR
T1 - Evaluation of Locomotion Performances for a Mecanum-Wheeled Hybrid Hexapod Robot
AU - Orozco-Magdaleno, Ernesto C.
AU - Gomez-Bravo, Fernando
AU - Castillo-Castaneda, Eduardo
AU - Carbone, Giuseppe
N1 - Publisher Copyright:
© 1996-2012 IEEE.
PY - 2021/6
Y1 - 2021/6
N2 - Recently, research on hybrid mobile robots has been attracting considerable interest due to the ability of these systems to perform service tasks in heterogeneous scenarios and irregular terrains. This article proposes a specific hybrid locomotion configuration, which combines legs and Mecanum omniwheels into a six-legged hexapod robot. Theoretical backgrounds and open issues are addressed by considering some challenging problems such as gait planning, modeling omnidirectional motion, and designing control architecture for combining locomotion modes. The article demonstrates suitability, feasibility, and successful performance of the proposed locomotion strategies and presents experimental results and novel scientific contributions regarding the motion of hybrid mobile robots.
AB - Recently, research on hybrid mobile robots has been attracting considerable interest due to the ability of these systems to perform service tasks in heterogeneous scenarios and irregular terrains. This article proposes a specific hybrid locomotion configuration, which combines legs and Mecanum omniwheels into a six-legged hexapod robot. Theoretical backgrounds and open issues are addressed by considering some challenging problems such as gait planning, modeling omnidirectional motion, and designing control architecture for combining locomotion modes. The article demonstrates suitability, feasibility, and successful performance of the proposed locomotion strategies and presents experimental results and novel scientific contributions regarding the motion of hybrid mobile robots.
KW - Mobile robot kinematics
KW - mobile robots
KW - mobility and locomotion
KW - robots
UR - http://www.scopus.com/inward/record.url?scp=85097322391&partnerID=8YFLogxK
U2 - 10.1109/TMECH.2020.3027259
DO - 10.1109/TMECH.2020.3027259
M3 - Artículo
AN - SCOPUS:85097322391
SN - 1083-4435
VL - 26
SP - 1657
EP - 1667
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 3
M1 - 9207865
ER -