Robot

Engineering

Ecology

Aerospace engineering

Biology

Stair climbing

Operating system

Computer science

Climb

Robot control

Physiology

Simulation

Descent (aeronautics)

Mobile robot

Automotive engineering

Robot locomotion

Track (disk drive)

Robotics

Artificial intelligence

Structural engineering

Terrain

Climbing

Machines

This paper presents the conceptual and functional design of a novel hybrid leg-wheel-track ground mobile robot for surveillance and inspection, named WheTLHLoc (Wheel-Track-Leg Hybrid Locomotion). The aim of the work is the development of a general-purpose platform capable of combining tracked locomotion on irregular and yielding terrains, wheeled locomotion with high energy efficiency on flat and compact grounds, and stair climbing/descent ability. The architecture of the hybrid locomotion system is firstly outlined, then the validation of its stair climbing maneuver capabilities by means of multibody simulation is presented. The embodiment design and the internal mechanical layout are then discussed.

Functional Design of a Hybrid Leg-Wheel-Track Ground Mobile Robot