The objective of this paper is to analyze the multibody dynamic model of biped flexible robots with wheeled feet. The following two points underline the novelty of this paper: 1) a novel physical and analytical model of a biped wheeled robot with flexible legs; 2) a biped locomotion composed by a combination of flexible links and wheeled feet. The validation of the model with the real robot gives to the scientific community a key reference to design future biped wheeled and flexible robots.
Multibody Dynamics of a Flexible Legged Robot with Wheeled Feet
Muscolo G. G.
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2017-01-01
Abstract
The objective of this paper is to analyze the multibody dynamic model of biped flexible robots with wheeled feet. The following two points underline the novelty of this paper: 1) a novel physical and analytical model of a biped wheeled robot with flexible legs; 2) a biped locomotion composed by a combination of flexible links and wheeled feet. The validation of the model with the real robot gives to the scientific community a key reference to design future biped wheeled and flexible robots.
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