Modeling and Control of a Hybrid Wheeled Jumping Robot
Traiko Dinev,Songyan Xin,Wolfgang Merkt,Vladimir Ivan,Sethu Vijayakumar,Traiko Dinev,Songyan Xin,Wolfgang Merkt,Vladimir Ivan,Sethu Vijayakumar
In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright position after the loss of balance. We propose a template model for the class of such two-wheeled jumping robots. This model can be considered as the simplest wheeled-legged system. We provide an analytical derivation of...
