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Hybrid Legged-Wheeled Robotic Platforms: Survey on Existing Solutions

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Robotics in Natural Settings (CLAWAR 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 530))

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Abstract

This survey analyses and compares ten different robots capable of hybrid locomotion in an attempt to elucidate the readers on several aspects of importance when designing and implementing a legged-wheeled vehicle. With this purpose in mind, the robots are compared based on their goals, kinematic configurations, joint specifications and overall performance. In this text, their variety and versatility is presented, justifying their use in real-world scenarios.

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Acknowledgment

This work has been supported by FCT - Fundação para a Ciência e Tecnologia within the Project Scope: UIDB/05757/2020 and Project Warehouse of the Future (WoF), with reference POCI-01-0247-FEDER-072638, co-funded by FEDER, through COMPETE 2020.

Author information

Authors and Affiliations

  1. FEUP - Faculty of Engineering, University of Porto, Porto, Portugal

    João Moreira, Inês N. Soares, Vítor H. Pinto & Paulo Costa

  2. SYSTEC (DIGI2)-Research Center for Systems and Technologies (Digital and Intelligent Industry Lab), Porto, Portugal

    Inês N. Soares & Vítor H. Pinto

  3. Research Centre in Digitalization and Intelligent Robotics (CeDRI), Instituto Politécnico de Bragança, Bragança, Portugal

    José Lima

  4. INESC TEC - Institute for Systems and Computer Engineering, Technology and Science, Porto, Portugal

    José Lima & Paulo Costa

Authors
  1. João Moreira
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  2. Inês N. Soares
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  3. José Lima
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  4. Vítor H. Pinto
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  5. Paulo Costa
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Corresponding author

Correspondence to João Moreira .

Editor information

Editors and Affiliations

  1. Faculty of Sciences and Technology, University of the Azores, Ponta Delgada, Portugal

    José M. Cascalho

  2. School of Engineering, London South Bank University, London, UK

    Mohammad Osman Tokhi

  3. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  4. Faculty of Sciences and Technology, University of the Azores, Ponta Delgada, Portugal

    Armando Mendes

  5. Mechanical, Materials and Manufacturing Engineering (M3), Faculty of Engineering, University of Nottingham, Nottingham, UK

    Khaled Goher

  6. Faculty of Sciences and Technology, University of the Azores, Ponta Delgada, Portugal

    Matthias Funk

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Moreira, J., Soares, I.N., Lima, J., Pinto, V.H., Costa, P. (2023). Hybrid Legged-Wheeled Robotic Platforms: Survey on Existing Solutions. In: Cascalho, J.M., Tokhi, M.O., Silva, M.F., Mendes, A., Goher, K., Funk, M. (eds) Robotics in Natural Settings. CLAWAR 2022. Lecture Notes in Networks and Systems, vol 530. Springer, Cham. https://doi.org/10.1007/978-3-031-15226-9_16

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