Development of a mobile robot controlled by three motors for hostile environment

Abstract

In this study a hybrid legged/wheeled mobile robot, KAMOBOT, is developed. The mobile robot has a six-legged cylindrical configuration, each leg of which is equipped with a wheel at the bottom. The robot can go up and down stairs, go over obstacles, move along curvilinear paths and rotate around its geometric center. Such maneuverability can be achieved by using only three electric motors. In this study several gate modes are analyzed and algorithms for gate control are presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>