Modeling and simulation of a near omni-directional hexapod robot

Abstract

The present paper describes design and modelling aspects of a near omni-directional legged-wheel robot. While discussing the importance of twin frame legged robots with wheels in mobile robotic research, the basic geometrical configuration of the system was presented. The kinematic and dynamic analysis of the system facilitated improved overall design of the robot. Results of virtual simulation of the movement of this hybrid legged wheel system are also presented. An experimental lab-scale prototype has been developed and simulation results are compared with the test results to ascertain the technical feasibility of geometric model with respect to the mobility on different terrains.