Machines, Volume 9, Issue 1 (January 2021) – 21 articles
Cover Story (view full-size image): WheTLHLoc is a novel Hybrid Leg-Wheel-Track ground mobile robot for surveillance and inspection. The aim of the project is the development of a general-purpose locomotion platform fulfilling several different requirements: the capability of facing irregular and yielding terrains by tracks, the possibility of purely wheeled locomotion with high energy efficiency on flat and compact grounds, and the ability to climb steps, stairs, and obstacles using legs, wheels, and tracks in combination. The architecture of the hybrid locomotion system is outlined, then the feasibility of the stair climbing maneuver is verified by means of multibody simulation. The embodiment design and the internal mechanical layout are discussed. View this paper
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