Development of leg-wheel hybrid quadruped “AirHopper” design of powerful light-weight leg with wheel

@article{Tanaka2008DevelopmentOL,
  title={Development of leg-wheel hybrid quadruped “AirHopper” design of powerful light-weight leg with wheel},
  author={Takahiro Tanaka and Shigeo Hirose},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2008},
  pages={3890-3895}
}
This paper proposes a new leg-wheel hybrid jumping robot ldquoAirHopperrdquo. AirHopper is expected to overcome uneven terrain, which is difficult to move around for ordinary vehicles which carry supplies for disaster areas or isolated districts. To acquire high mobility and jumping, AirHopper consists of the following mechanisms. 1) 4 legs that are widely spread like a spider for stability, 2) active wheels on its feet which are driven by built-in motors and transmissions, 3) 2 decoupled… CONTINUE READING
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