Conference article

Modeling and simulation for leg-wheel mobile robots using Modelica

Hiroki Yoshikawa
Tokyo City University, Japan

Takatsugu Oda
Tokyo City University, Japan

Kenichiro Nonaka
Tokyo City University, Japan

Kazuma Sekiguchi
Tokyo City University, Japan

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Published in: The First Japanese Modelica Conferences, May 23-24, Tokyo, Japan

Linköping Electronic Conference Proceedings 124:8, p. 55-60

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Published: 2016-05-18

ISBN: 978-91-7685-749-6

ISSN: 1650-3686 (print), 1650-3740 (online)


Modeling of complex robots which consist of mechanical and electric elements has attracted a lot of attention to be utilized for analysis, simulation and development. In this paper, we model the space exploration robot which has leg-wheel mechanisms using Modelica, which is an equation based language and convenient to cope with a complex physical system. In addition, to evaluate the performance of planetary exploration robots, we conduct simulations considering the space environment using the fundamental control system and the robot model. The simulation results indicate that considering load shift due to centrifugal force is important under low gravitational acceleration.


leg-wheel mobile robots, modeling,space robots, control system


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