In this paper the design and simulation are presented for THROO: Tracked Hybrid Rover for Overpassing Obstacles. The proposed mobile robot has 3-DOFs and it is capable of straight motion, turning ability and two operations, namely rover-like motion with tracks on flat terrain and walking-like motion with legs to overpass obstacles on uneven terrain. A prototype has been built and the reported experimental results show its ability in overpass obstacles, which size is comparable or greater than the track high.
Design, simulation and Experimental tests of a hybrid rover for overpassing obstacles
CASTELLI, Gianni;OTTAVIANO, Erika
2011-01-01
Abstract
In this paper the design and simulation are presented for THROO: Tracked Hybrid Rover for Overpassing Obstacles. The proposed mobile robot has 3-DOFs and it is capable of straight motion, turning ability and two operations, namely rover-like motion with tracks on flat terrain and walking-like motion with legs to overpass obstacles on uneven terrain. A prototype has been built and the reported experimental results show its ability in overpass obstacles, which size is comparable or greater than the track high.File in questo prodotto:
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