Design of a Driving Module for a Hybrid Locomotion Robot

  • J. J. CastilloEmail author
  • J. A. Cabrera
  • M. Jaimez
  • F. Vidal
  • A. Simón
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 24)


One of the challenges in today’s mobile robotics is the design of high mobility and maneuverability robots. In this work we present the design and construction of a new concept of a locomotion system for mobile robots. It consists of a hybrid leg-wheel module that can be attached to the main body of a robot in a similar way to a conventional wheel. The mechanical configuration of the driving module is described, emphasizing the characteristics which make it different from other hybrid locomotion systems. A dynamic model that simulates the movement of the module was developed to analyze its behavior and to test different control algorithms that were subsequently implemented on the real module. Finally, we have carried out a series of simple experiments that demonstrate the correct operation of the module on flat ground without obstacles.


Hybrid locomotion Robotics Mechanical design Dynamic model Control 


  1. 1.
    Adachi H et al (1999) Mechanism and control of a leg-wheel hybrid mobile robot. In: IEEE/RSJ international conference on intelligent robots and systems, vol 3, pp 1792–1997Google Scholar
  2. 2.
    Gheorghe V et al (2008) Design of a rolling robot with telescopic legs able to displace itself on irregular surfaces. Rom Rev Precis Mech Opt Mechatron 18(34):139–144Google Scholar
  3. 3.
    Hardarson F (1998) Locomotion for difficult terrain Technical report. Department of Machine Design, Royal Institute of Technology, Stockholm (TRITA-MMK)Google Scholar
  4. 4.
    Hong D, Laney D (2006) Preliminary design and kinematic analysis of a mobility platform with two actuated spoke wheels. In: US Korea conference on science, technology and entrepreneurshipGoogle Scholar
  5. 5.
    Ichikawa Y, Ozaki N, Sadakane K (1983) A hybrid locomotion vehicle for nuclear power plants. IEEE Trans Syst Man Cybern 13(6):1089–1093CrossRefGoogle Scholar
  6. 6.
    Jaimez M, Castillo JJ, Cabrera JA (2012) Design and modelling of Omnibola©, a spherical mobile robot. Mech Based Des Struct Mach Int J 40(4):383–399CrossRefGoogle Scholar
  7. 7.
    Rohmer E et al (2008) Action planner of hybrid leg-wheel robots for lunar and planetary exploration. IEEE/RSJ international conference on intelligent robots and systems, pp 3902–3907Google Scholar
  8. 8.
    Schroer RT et al (2004) Comparing cockroach and whegs robot body motions. In: IEEE international conference on robotics and automation, vol 4, 3288–3293Google Scholar
  9. 9.
    Seeni A et al (2008) Robot mobility concepts for extraterrestrial surface exploration. IEEE Aero-space Conference pp 1–14Google Scholar
  10. 10.
    Siegwart R, Nourbakhsh IR (2004) Introduction to autonomous mobile robots. The MIT Press, CambridgeGoogle Scholar
  11. 11.
    Tadakuma K et al (2010) Mechanical design of the wheel-leg hybrid mobile robot to realize a large wheel diameter. In: IEEE/RSJ international conference on intelligent robots and systems, pp 3358–3365Google Scholar
  12. 12.
    Takahashi M, Yoneda K, Hirose S (2006) Rough terrain locomotion of a leg—wheel hybrid quadruped robot. In: IEEE international conference on robotics and automation, pp 1090–1095Google Scholar
  13. 13.
    Wong JY, Huang W (2006) Weels versus tracks—a fundamental evaluation from the traction perspective. J Terrramech 43(1):27–42CrossRefMathSciNetGoogle Scholar
  14. 14.
    Yuk N-S, Kwon D-S (2008) Realization of expressive body motion using leg-wheel mobile robot: Kamero. In: International conference on control, automation and systems, pp 2350–2355Google Scholar

Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • J. J. Castillo
    • 1
    Email author
  • J. A. Cabrera
    • 1
  • M. Jaimez
    • 1
  • F. Vidal
    • 1
  • A. Simón
    • 1
  1. 1.University of MalágaMalágaSpain

Personalised recommendations