Hybrid Legged-Wheeled Robot Path Following: A Realistic Simulation Approach Conference Paper uri icon


  • Legged-wheeled locomotion systems are a particular case of robot types that can be characterized by an increase in the degrees of freedom. To increase safety and robustness in the performance of industrial robots, while reducing the risk of damage to the robot joints and injure to human operators, the use of non-rigid joints is growing in the literature and in the industry. Realistic simulators are tools capable of detecting rigid bodies interactions through physics engines. This paper presents the simulation model of a hybrid legged wheeled robot, built in the SimTwo simulator. The proposed algorithms for path following control are detailed, along with the tests performed to them. These showed that the errors in linear paths are at most 1 cm. For circular paths, the maximum error is 3 cm.
  • This work has been supported by FCT - Fundação para a Ciência e Tecnologia within the Project Scope: UIDB/05757/2020

publication date

  • January 1, 2022