Multibody Model of a Wheeled-Legged Robot with Compliant Spine and Knee

This thesis has the objective to evaluate the performances of a quadruped robot model including compliant elements in the knee, spine and adding wheels in the feet. The multibody model of the quadruped robot is developed using Matlab/Simscape Multibody. Simulations for locomotion with obstacles are performed. Results underline what is the good combination for bypassing obstacles using variable stiffness in the knee and in the spine and including actuated wheels.