Design of a hybrid wheeled-legged robot - WheeHy

Bojan Jakimovski; Martin Hörenz; Michael Kotke; Erik Maehle

Design of a hybrid wheeled-legged robot - WheeHy

Bojan Jakimovski, Martin Hörenz, Michael Kotke, Erik Maehle

Institute of Computer Engineering

Institute of Computer Engineering

Abstract

In this paper we describe a prototype design of a wheeled-legged hybrid robot platform named WheeHy. An important characteristic introduced within this hybrid robot design is that the robot is capable of doing in-situ reconfiguration of its posture. Another characteristic is that the robot performs adaptation of its posture to uneven terrain, which it is traversing over. Due to these characteristics, such robot design can be quite useful for building robots that operate autonomously on difficult terrain, robots which can be used for search & rescue scenarios or for reconnaissance & surveillance missions.

Original language	English
Title of host publication	ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
Number of pages	6
Publisher	VDE Verlag GmbH
Publication date	01.12.2010
Pages	1233-1238
ISBN (Print)	978-3-8007-3273-9
Publication status	Published - 01.12.2010
Event	Joint 41st International Symposium on Robotics, 6th German Conference on Robotics 2010 - Munich, Germany Duration: 07.06.2010 → 09.06.2010 Conference number: 98415

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Cite this

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title = "Design of a hybrid wheeled-legged robot - WheeHy",

abstract = "In this paper we describe a prototype design of a wheeled-legged hybrid robot platform named WheeHy. An important characteristic introduced within this hybrid robot design is that the robot is capable of doing in-situ reconfiguration of its posture. Another characteristic is that the robot performs adaptation of its posture to uneven terrain, which it is traversing over. Due to these characteristics, such robot design can be quite useful for building robots that operate autonomously on difficult terrain, robots which can be used for search & rescue scenarios or for reconnaissance & surveillance missions.",

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Jakimovski, B, Hörenz, M, Kotke, M & Maehle, E 2010, Design of a hybrid wheeled-legged robot - WheeHy. in ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics). VDE Verlag GmbH, pp. 1233-1238, Joint 41st International Symposium on Robotics, 6th German Conference on Robotics 2010
, Munich, Bavaria, Germany, 07.06.10. <https://ieeexplore.ieee.org/document/5756943>

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AU - Hörenz, Martin

AU - Kotke, Michael

AU - Maehle, Erik

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N2 - In this paper we describe a prototype design of a wheeled-legged hybrid robot platform named WheeHy. An important characteristic introduced within this hybrid robot design is that the robot is capable of doing in-situ reconfiguration of its posture. Another characteristic is that the robot performs adaptation of its posture to uneven terrain, which it is traversing over. Due to these characteristics, such robot design can be quite useful for building robots that operate autonomously on difficult terrain, robots which can be used for search & rescue scenarios or for reconnaissance & surveillance missions.

AB - In this paper we describe a prototype design of a wheeled-legged hybrid robot platform named WheeHy. An important characteristic introduced within this hybrid robot design is that the robot is capable of doing in-situ reconfiguration of its posture. Another characteristic is that the robot performs adaptation of its posture to uneven terrain, which it is traversing over. Due to these characteristics, such robot design can be quite useful for building robots that operate autonomously on difficult terrain, robots which can be used for search & rescue scenarios or for reconnaissance & surveillance missions.

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M3 - Conference contribution

SN - 978-3-8007-3273-9

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EP - 1238

BT - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)

PB - VDE Verlag GmbH

T2 - Joint 41st International Symposium on Robotics, 6th German Conference on Robotics 2010 <br/>

Y2 - 7 June 2010 through 9 June 2010

ER -

Design of a hybrid wheeled-legged robot - WheeHy

Abstract

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