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Proceedings Paper

AZIMUT: a multimodal locomotion robotic platform
Author(s): Francois Michaud; Dominic Letourneau; Martin Arsenault; Yann Bergeron; Richard Cadrin; Frederic Gagnon; Marc-Antoine Legault; Mathieu Millette; Jean-Francois Pare; Marie-Christine Tremblay; Pierre Lepage; Yan Morin; Serge Caron
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Paper Abstract

Other than from its sensing and processing capabilities, a mobile robotic platform can be limited in its use by its ability to move in the environment. A wheeled robot works well on flat surfaces. Tracks are useful over rough terrains, while legs allow a robot to move over obstacles. In this paper we present a new concept of mobile robot with the objective of combining different locomotion mechanisms on the same platform to increase its locomotion capabilities. After presenting a review of multi-modal robotic platforms, we describe the design of our robot called AZIMUT. AZIMUT combines wheels, legs and tracks to move in three-dimensional environments. The robot is symmetrical and is made of four independent leg-track-wheel articulations. It can move with its articulations up, down or straight, or move sideways without changing the robot's orientation. The robot could be used in surveillance and rescue missions, exploration or operation in hazardous environments.

Paper Details

Date Published: 30 September 2003
PDF: 12 pages
Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003); doi: 10.1117/12.497283
Show Author Affiliations
Francois Michaud, Univ. de Sherbrooke (Canada)
Dominic Letourneau, Univ. de Sherbrooke (Canada)
Martin Arsenault, Univ. de Sherbrooke (Canada)
Yann Bergeron, Univ. de Sherbrooke (Canada)
Richard Cadrin, Univ. de Sherbrooke (Canada)
Frederic Gagnon, Univ. de Sherbrooke (Canada)
Marc-Antoine Legault, Univ. de Sherbrooke (Canada)
Mathieu Millette, Univ. de Sherbrooke (Canada)
Jean-Francois Pare, Univ. de Sherbrooke (Canada)
Marie-Christine Tremblay, Univ. de Sherbrooke (Canada)
Pierre Lepage, Univ. de Sherbrooke (Canada)
Yan Morin, Univ. de Sherbrooke (Canada)
Serge Caron, Univ. de Sherbrooke (Canada)

Published in SPIE Proceedings Vol. 5083:
Unmanned Ground Vehicle Technology V
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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