Epi.q Lizard: a modular ground mobile robot

Abstract

The paper discusses the functional design and the embodiment design of Epi.q Lizard, which is the last version of the Epi.q ground mobile robots family. Epi.q robots are equipped with underactuated stepping triple wheel locomotion units with epicyclical gearings, capable of switching between wheeled and legged locomotion without control intervention, depending on the dynamic condition of the vehicle. With respect to the previous versions, Epi.q Lizard is characterized by a higher level of modularity and can be reconfigured on the basis of the task requirements