A New Hybrid Locomotion Mobile Robot for Semi-structured Environments

  • C. Ferraresi
  • G. Quaglia
Conference paper
Part of the Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich book series (AKADNIEDERÖSTER)


The article presents a small-scale prototype of a hybrid locomotion robot combining two types of mobility, i. e. on wheels and on legs. The prototype was developed from the authors’ previous experience with a robot of the same type. Particular attention was devoted to simplifying kinematic layout in order to minimize the number of motors and provide the simplest possible control operations while ensuring a high degree of dexterity and speed. The article describes robot characteristics and the kinematic arrangements permitting motion on horizontal planes, ramps and stairs.


Mobile Robot Robot Body Riser Height Robot Sphere Hybrid Robot 
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Copyright information

© Springer-Verlag/Wien 1994

Authors and Affiliations

  • C. Ferraresi
    • 1
  • G. Quaglia
    • 1
  1. 1.Department of MechanicsPolitecnico di TorinoTorinoItaly

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