Locomotion Modes of an Hybrid Wheel-Legged Robot

The main objective of this paper is to compare and evaluate the performance of several locomotion modes of an hybrid wheel-legged robot. Each studied locomotion mode is described, compared and evaluated according to the same criteria, which are the gradeability — i.e. the climbing ability — and the power consumption. A hierarchical scheme dedicated to the selection and the control of each locomotion mode is also presented.