Contact Based Turning Gait of a Novel Legged-Wheeled Quadruped
Alper Yeldan,Abhimanyu Arora,Gim Song Soh,Alper Yeldan,Abhimanyu Arora,Gim Song Soh
How does a wheeled robot move and turn? The answer is straightforward for a conventional wheeled robot, but it is not so easy for a robot with a discrete wheel design. Regular wheeled robots always have four contact points, resulting in static stability during locomotion. However, QuadRunner's novel leg mechanism provides only a semi-circular wheel shape, and proper gait planning is needed to go s...
