@ARTICLE{Gronowicz_Antoni_Idea_2009,
 author={Gronowicz, Antoni and Szrek, Jarosław},
 volume={vol. 56},
 number={No 3},
 journal={Archive of Mechanical Engineering},
 howpublished={online},
 year={2009},
 publisher={Polish Academy of Sciences, Committee on Machine Building},
 abstract={In order for a quadruped robot to be able to move on wheels while keeping its platform in horizontal position, and to walk, the kinematic system of its limbs should be so designed that each of the wheels has at least four degrees of freedom. Consequently, the designed system will have many DOFs and many controlled drives. This paper presents a novel solution in which, thanks to a suitable limb kinematic system geometry, the number of drives for the robot travel function, i.e. travelling on an uneven surface with the robot platform kept horizontal, has been reduced by four which are used only for walking. The robot structure, the required geometry of the limb links and the driving torque characteristics are presented. Moreover, an idea of the control system is sketched. Finally, selected results of the tests carried out on the robot prototype are reported.},
 type={Artykuły / Articles},
 title={Idea of a quadruped wheel-legged robot},
 URL={http://ochroma.man.poznan.pl/Content/115404/PDF/AME_2009_132101.pdf},
 doi={10.24425/ame.2009.132101},
 keywords={mobile robot, limb geometry, control system},
}