Design, Modeling, and Control of a Single Leg for a Legged-Wheeled Locomotion System with Non-Rigid Joint

• Type: Article in International Scientific Journal
• Date: 2021

Authors

Vítor H. Pinto (Author) FEUP; José Gonçalves (Author) Other; Paulo Gomes da Costa (Author) FEUP

Journal

Title: Actuators

Vol. 10

Pages: 1-23

Publisher: MDPI

Indexing

ISI Web of Knowledge - 5 Citations

Scopus - 5 Citations

Other information

Authenticus ID: P-00T-D28

DOI: 10.3390/act10020029

Abstract (EN): This article presents an innovative legged-wheeled system, designed to be applied in a hybrid robotic vehicle's locomotion system, as its driving member. The proposed system will be capable to combine the advantages of legged and wheeled locomotion systems, having 3DOF connected through a combination of both rigid and non-rigid joints. This configuration provides the vehicle the ability to absorb impacts and selected external disturbances. A state space approach was adopted to control the joints, increasing the system's stability and adaptability. Throughout this article, the entire design process of this robotic system will be presented, as well as its modeling and control. The proposed system's design is biologically inspired, having as reference the human leg, resulting in the development of a prototype. The results of the testing process with the proposed prototype are also presented. This system was designed to be modular, low-cost, and to increase the autonomy of typical autonomous legged-wheeled locomotion systems.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 23