Precision Programming of Roving Robots: Project-Based Fundamentals of Wheeled, Legged and Hybrid Mobile Robots
10. 2-wheeled-2-legged Rickshaw Robot: Replacing Some Wheels with Legs and Programming its Central Pattern Generator
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The basic theory of motion of vehicles in a ground plane was covered in chapter 1 where a vehicle can be either a legged or wheeled device. Chapter 3 then used this theory to give motion to a Tricycle Robot which is a 3-wheeled vehicle with no legs. Chapters 4 to 9 then build up a theory of legged motion for a single 3 dof leg. The most important operational technique of leg motion is the ability to guide the leg tip through a programmably shaped and directioned locus, which is explained in chapter 4, and then to develop walking...