Jeffrey Webb

Abstract

In this work, a hybrid locomotion robotic platform is evaluated. This system combines the benefits of both rolling and walking, with the intent on having the ability to traverse variable terrain. A quadruped leg-wheeled robot was designed, built, and tested. Experimental trials were conducted to demonstrate the overall feasibility of the design. Finally, important conclusions about the effectiveness and value of hybrid locomotion were reached. Posturecontrol is specifically identified as an effective area with great potential.

Library of Congress Subject Headings

Robots--Motion--Evaluation; Robots--Design

Publication Date

5-1-2007

Document Type

Thesis

Department, Program, or Center

Mechanical Engineering (KGCOE)

Advisor

Crassidis, Agamemnon

Advisor/Committee Member

Phillips, Daniel

Advisor/Committee Member

Hensel, Edward

Comments

Note: imported from RIT’s Digital Media Library running on DSpace to RIT Scholar Works. Physical copy available through RIT's The Wallace Library at: TJ211.4 .W42 2007

Campus

RIT – Main Campus

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