Modelling and simulation studies on the mobile robot with self-leveling chassis

Abstract

The mobile robot presented in the article is a hybrid system combining efficient travel on wheels on a flat terrain with the capability of surmounting obstacles by walking. The research is focused on designing a control system maintaining the robot chassis at a constant position to the ground. The aims of this research are: creation of the computational model of the control system for the levelling system of designed mobile robots and realization of simulation studies on the robots travel in terrain with obstacles. The simulations aimed at determination of basic dynamic and kinematic properties.