Path Planning for a Wheel-Foot Hybrid Parallel-Leg Walking Robot

Mobile robots require the ability to plan collision-free paths. This paper introduces a wheel-foot hybrid parallel-leg walking robot based on the 6-Universal-Prismatic-Universal-Revolute and 3-Prismatic (6UPUR + 3P) parallel mechanism model. To enhance path planning efficiency and obstacle avoidance...

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Bibliographic Details

Published in:	Sensors
Main Authors:	Xinxing Tang, Hongxin Pei, Deyong Zhang
Format:	Article
Language:	English
Published:	MDPI AG 2024-03-01
Subjects:	walking robot wheel-foot hybrid parallel-leg artificial potential field (APF) method path planning
Online Access:	https://www.mdpi.com/1424-8220/24/7/2178