No.7（2012）10.Running simulation and experimental production for a wheeled-leg type robot

Kazuhiro Sakashita, Chihiro Yakushiji, Akinari Ueno, Toshiki Masuda

  In order to support the industrialization of robot relations in small and medium-sized enterprises, the service robot business-oriented mobile robot base has been developed. In addition to being energy efficient on flat ground, a wheeled-leg type robot is an attractive mobile robot base since it can traverse different levels of ground. A simulation of a stable run for a wheeled-leg type robot on flat ground was carried out using an ODE (Open Dynamic Engine). The results showed thatindustrialization can be achieved at an appropriate cost. Moreover, from this result, the construction of a prototype guidance robot is reported.

Keywords
Leg wheel type robot, Service robot, Robot design environment, Mechatronics, Simulation

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