A bio-inspired hybrid leg-wheel robot

Abstract

This work described the design and construction of a combination of a bio-inspired leg-wheel mobile robot platform, A locomotion method using legs and wheels mechanism was presented here. The insect hybrid leg-wheel robot was built with two front legs and wheels in the back. Each leg consists of two mechanisms which are six-bar and four-bar linkages driven by two motors. The robot movement was propelled by the two front legs pushed the wheel to go forward and backward. The robot controller hardware used the stamp-box by parallax. The joint angles was measured using potentiometer and the foot sensors was the on/off switch.