RT Journal Article
T1 Evaluation of Locomotion Performances for a Mecanum-wheeled Hybrid Hexapod Robot
A1 Orozco Magdaleno, Ernest Christian
A1 Gómez Bravo, Fernando
A1 Castillo Castañeda, Eduardo
A1 Carbone, Giuseppe
K1 Legged locomotion
K1 Robot kinematics
K1 Hexapod Robot
K1 Control Architecture
K1 Robot Motion
AB Research on hybrid mobile robots has been attracting considerable interest due to the ability of these systems to perform service tasks in heterogeneous scenarios and irregular terrains. This article proposes a specific hybrid locomotion configuration, which combines legs and Mecanum omniwheels into a six-legged hexapod robot. Theoretical backgrounds and open issues are addressed by considering some challenging problems such as gait planning, modeling omnidirectional motion, and designing control architecture for combining locomotion modes. The article demonstrates suitability, feasibility, and successful performance of the proposed locomotion strategies and presents experimental results and novel scientific contributions regarding the motion of hybrid mobile robots.
PB Institute of Electrical and Electronics Engineers
SN 1083-4435
YR 2020
FD 2020
LK https://hdl.handle.net/10272/27758
UL https://hdl.handle.net/10272/27758
LA eng
NO Orozco-Magdaleno, E. C., Gomez-Bravo, F., Castillo-Castaneda, E., & Carbone, G. (2021). Evaluation of Locomotion Performances for a Mecanum-Wheeled Hybrid Hexapod Robot. IEEE/ASME Transactions on Mechatronics, 26(3), 1657–1667. https://doi.org/10.1109/tmech.2020.3027259
NO Ministry of Science and Higher Education of the Russian Federation (No. 0625-2020- 0017)
DS Repositorio Institucional de la Universidad de Huelva
RD 31 may 2026