Summary

Proceedings of the 2012 International Symposium on Nonlinear Theory and its Applications

2012

Session Number:A3L-C

Session:

Number:179

A Design of Leg-Wheeled Robot with Reduced DOF and Passive Wheels

Katsuhiko Inagaki,  

pp.179-182

Publication Date:

Online ISSN:2188-5079

DOI:10.15248/proc.1.179

PDF download (1.6MB)

This paper presents a new type of leg-wheeled robot that is applied two design concepts. One is reducing DOF and the other is using passive wheels. By using these concepts, it is possible to design light weight robot. Since weight is one of the important problem to build up a robot which can stand for practical use. The new robot is designed for a mobile environment which has flat terrain and some kinds of obstacles such as steps or drain. Such environment can be observed in office or plants designed for human.

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