The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2023
Session ID : 2P2-G18
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Design and Development of a Two-legged Wheeled Robot Capable of Wheeled Locomotion Utilizing 4-DoF Legs
*Yusuke KAWASHIMAYuta ISHIZAWATaisei SUZUKITabito AOTAKenji HASHIMOTO
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Abstract

Leg-wheeled robots, which combine the features of both wheeled and legged robots, have been proposed as highly mobile robots. We have developed a two-legged wheeled robot, MELEW-2 (MEiji LEg-Wheeled Robot-No.2), which consists of 4-DoF legs (x,y,z,Yaw) and active wheels. The motion experiments show that the robot can run on wheels at a speed of about 1.7 m/s, and that it can perform a combination leg and wheel movements, such as running on wheels while adjusting the height and the leg width of the robot body and slalom running. In this paper, we describe the hardware, control, and operation experiments.

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© 2023 The Japan Society of Mechanical Engineers
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