Mobile Exploration Robot with Hybrid Locomotion System

The authors of this paper present an innovation in mobile robot modelling utilising a hybrid locomotion technology. The advantages of both wheeled and walking mobility are combined in the proposed locomotion system. The four-bar mechanism of the robot leg allows for improved stability and stiffness of the entire locomotion system without obstructing any of the three modes of mobility-on wheels, with legs, or combined. The paper describes the conceptual model, the structural scheme of the robot and analyses the possibilities of locomotion using wheels and legs.