Development of a module with driving and walking capability: Study in the feasibility for application with a ZebRo robot

Abstract

Robots that use legged locomotion have the ability to overcome obstacles and can negotiate a wide range of difficult terrains, such as encountered in outer-space missions. In many practical scenarios however, their applicability is still limited, mainly due to insufficient speed and efficiency. On the other hand, robots that use wheeled locomotion are fast and efficient, but are generally confined to flat or prepared surfaces. A relatively new approach, to use the advantages of both forms, is the combination of walking and driving technology into Hybrid Walker-Wheeler technology. In this research we will explore the feasibility of applying Hybrid Walker-Wheeler technology to the Zesbenige Robot (ZebRo). ZebRo is a small walking robot with six One-Degree-of-Freedom (DoF) legs and walks with an insect-inspired gait. It is being developed with the intention to go on a mission to the moon. The objective in this thesis is to increase the speed and energy efficiency of the ZebRo on flat surfaces, while maintaining its robustness and walking capability on rough terrain. We will set up the criteria for a new design, explore various options and parameters and choose a concept. We will then do a number of simulations to analyse the properties of a wheel and a leg and to apply these in the design. The final prototype consists of a single module with a wheel, a one-DoF leg and a custom-design coupling which switches torque, from the motor, between the wheel-axle and the leg-axle. This prototype was tested and evaluated on its electrical power consumption and the torque and speed transmitted to the leg-axle and wheel-axle. From these results, we were able to draw a number of conclusions and make recommendations for a ZebRo equipped with Hybrid Walker-Wheeler technology.Intelligent echanical SystemsMechanical Engineering | BioMechanical Desig