IJAT Vol.11 No.3 pp. 396-403
doi: 10.20965/ijat.2017.p0396


Experimental Performance Assessment of Mantis 2, Hybrid Leg-Wheel Mobile Robot

Luca Bruzzone*,†, Pietro Fanghella*, and Giuseppe Quaglia**

*DIME, University of Genoa
Via Opera Pia 15A, 16145 Genoa, Italy

Corresponding author

**DIMEAS, Polytechnic University of Turin, Torino, Italy

September 27, 2016
November 11, 2016
Online released:
April 28, 2017
May 5, 2017
hybrid leg-wheel locomotion, ground mobile robot, step climbing

Mantis 2 is a small-scale leg-wheel ground mobile robot, designed for exploration, surveillance and inspection tasks in unstructured environments. It is equipped with two actuated front wheels, two passive rear wheels, and two rotating legs with praying Mantis profile, specially conceived for step and obstacle climbing. Locomotion is purely wheeled on regular surfaces, with high energetic efficiency and maneuverability, and with stable camera vision. In case of obstacles or terrain irregularities, the rotating legs increase the motion capability. The main innovation of the second version is the introduction of passive one-way auxiliary wheels on each leg, which improve the efficacy of step climbing. The paper discusses analytical and experimental results on step ascent and descent and locomotion on irregular surfaces.

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Last updated on Sep. 21, 2017