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The Mobility Performances of New Wheeled and Legged Hybrid Mechanisms System Roboti SRo
Son Kuswadi,Indra Adji Sulistijono,Rachman Ardyansyah,Ahmad Zulkarnain,Tiyo Avianto,Ilmi Rizki Imaduddin,Achmad Luthfi,Moh. Saifulloh,Achmad Jazidie,Mitsuji Sampei 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In rescue robot competition field, a robot needs to operatein various dynamic environments where they encounter amultitude of unknown both static and /or moving obstacles and targets. Hence, the robot should have high mobility performance to cope with this situation. Here, we propose a new robot hybrid mechanism that consists of wheeled and legged actuators. Based upon the designed mechanism, we derive 10 primitive motions. It is apparent that with this large number of primitive motions, the robot could achieve high mobility performances. We show such high performance by simulation and experiment.