Demonstration of the four-wheel driving capabilies of the uBot-6 robot. In this modes it uses both wheels and arms for mobility. The uBot-6 robot is a toddler-sized mobile manipulator that balances dynamically on two wheels. The robot has 12 degrees of freedom (DOF): two wheels, a rotatable trunk with two 4-DOF arms, and a 1-DOF head. It is 88 cm tall and weighs about 25 kg.
In its primary form of locomotion the robot is a dynamic balancer on two wheels. The wheels provide non-holonomic drive capabilities with differential steering. Dynamically stable robots are well suited to environments designed for humans where both a high center of mass and a small footprint are often required.
The uBot-6 is capable of combining the use of arms and wheels for locomotion by either kuckle-walking like a chimpanzee or
by using passive wheels on his elbows for four-wheeled driving. These wheels enable statically stable four-wheeled locomotion at various body heights. The arms are used to provide Ackermann steering. uBot-6 is capable of transitioning to and between other postural configurations. Each postural configuration provides additional ways to interact with the environment and solve tasks.
In this video the robot is manually controlled with a joystick, but it is capable of autonomous navigation.
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