In order to study the behavior and performance of a robot,
building its simulation model is crucial. Realistic simulation tools using
physics engines enable faster, more accurate and realistic testing conditions,
without depending on the real vehicle. By combining legged and
wheeled locomotion, hybrid vehicles are specially useful for operating
in different types of terrains, both indoors and outdoors. They present
increased mobility, versatility and adaptability, as well as easier maneuverability,
when compared to vehicles using only one of the mechanisms.
This paper presents the realistic simulation through the SimTwo simulator
software of a hybrid legged-wheeled robot. It has four 3-DOF
(degrees of freedom) legs combining rigid and non-rigid joints and has
been fully designed, tested and validated in the simulated environment
with incorporated dynamics.
This work is financed by National Funds through the Portuguese
funding agency, FCT - Funda¸c˜ao para a Ciˆencia e a Tecnologia within project
UIDB/50014/2020.
