Static Balancing of Wheeled-legged Hexapod Robots
CICATA Instituto Politecnico Nacional –Unidad Queretaro, Querétaro 76090, Mexico
IRCCS Neuromed, 86077 Pozzilli, Italy
DIMEG, University of Calabria, 87036 Cosenza, Italy
Author to whom correspondence should be addressed.
Robotics 2020, 9(2), 23; https://doi.org/10.3390/robotics9020023
Received: 3 February 2020 / Revised: 30 March 2020 / Accepted: 2 April 2020 / Published: 7 April 2020
(This article belongs to the Special Issue Advances in Robotics and Mechatronics)
Locomotion over different terrain types, whether flat or uneven, is very important for a wide range of service operations in robotics. Potential applications range from surveillance, rescue, or hospital assistance. Wheeled-legged hexapod robots have been designed to solve these locomotion tasks. Given the wide range of feasible operations, one of the key operation planning issues is related to the robot balancing during motion tasks. Usually this problem is related with the pose of the robot’s center of mass, which can be addressed using different mathematical techniques. This paper proposes a new practical technique for balancing wheeled-legged hexapod robots, where a Biodex Balance System model SD (for static & dynamic) is used to obtain the effective position of the center of mass, thus it can be recalculated to its optimal position. Experimental tests are carried out to evaluate the effectiveness of this technique and modify and improve the position of hexapod robots’ center of mass.