{"id":2559,"date":"2025-07-09T10:00:00","date_gmt":"2025-07-09T10:00:00","guid":{"rendered":"https:\/\/learnbydoing.dev\/?p=2559"},"modified":"2026-01-10T22:24:49","modified_gmt":"2026-01-10T22:24:49","slug":"choosing-the-right-locomotion-system-for-mobile-robots","status":"publish","type":"post","link":"https:\/\/learnbydoing.dev\/choosing-the-right-locomotion-system-for-mobile-robots\/","title":{"rendered":"Choosing the Right Locomotion System for Mobile Robots"},"content":{"rendered":"<div data-elementor-type=\"wp-post\" data-elementor-id=\"2559\" class=\"elementor elementor-2559\" data-elementor-post-type=\"post\">\n\t\t\t\t<div class=\"elementor-element elementor-element-e28ab35 e-flex e-con-boxed e-con e-parent\" data-id=\"e28ab35\" data-element_type=\"container\" data-e-type=\"container\" id=\"content\" data-settings=\"{&quot;background_background&quot;:&quot;classic&quot;}\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t<div class=\"elementor-element elementor-element-62ab6e3 e-con-full e-flex e-con e-child\" data-id=\"62ab6e3\" data-element_type=\"container\" data-e-type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-62ab203 elementor-align-center elementor-widget elementor-widget-post-info\" data-id=\"62ab203\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"post-info.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<ul class=\"elementor-inline-items elementor-icon-list-items elementor-post-info\">\n\t\t\t\t\t\t\t\t<li class=\"elementor-icon-list-item elementor-repeater-item-2c98363 elementor-inline-item\" itemprop=\"about\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"elementor-icon-list-text elementor-post-info__item elementor-post-info__item--type-terms\">\n\t\t\t\t\t\t\t\t\t\t<span class=\"elementor-post-info__terms-list\">\n\t\t\t\t<span class=\"elementor-post-info__terms-list-item\">Linux<\/span>, <span class=\"elementor-post-info__terms-list-item\">ROS<\/span>, <span class=\"elementor-post-info__terms-list-item\">ROS 2<\/span>, <span class=\"elementor-post-info__terms-list-item\">Tutoriales<\/span>\t\t\t\t<\/span>\n\t\t\t\t\t<\/span>\n\t\t\t\t\t\t\t\t<\/li>\n\t\t\t\t<\/ul>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-0650e10 e-con-full e-flex e-con e-child\" data-id=\"0650e10\" data-element_type=\"container\" data-e-type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-ac19582 elementor-view-default elementor-widget elementor-widget-icon\" data-id=\"ac19582\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"icon.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"elementor-icon-wrapper\">\n\t\t\t<div class=\"elementor-icon\">\n\t\t\t<svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"75\" height=\"75\" viewbox=\"0 0 75 75\" fill=\"none\"><path d=\"M74.9999 75H13.1889V73.0002H71.5859L0.460938 1.87521L1.87515 0.460999L73.0001 71.586V13.1889H74.9999V75Z\" fill=\"white\"><\/path><\/svg>\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-47aa245d e-flex e-con-boxed e-con e-parent\" data-id=\"47aa245d\" data-element_type=\"container\" data-e-type=\"container\" data-settings=\"{&quot;background_background&quot;:&quot;classic&quot;}\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-206a001 elementor-widget elementor-widget-image\" data-id=\"206a001\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img fetchpriority=\"high\" decoding=\"async\" width=\"1920\" height=\"1080\" src=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Workspace-_5_.webp\" class=\"attachment-full size-full wp-image-2561\" alt=\"\" srcset=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Workspace-_5_.webp 1920w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Workspace-_5_-300x169.webp 300w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Workspace-_5_-1024x576.webp 1024w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Workspace-_5_-768x432.webp 768w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Workspace-_5_-1536x864.webp 1536w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Workspace-_5_-18x10.webp 18w\" sizes=\"(max-width: 1920px) 100vw, 1920px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-4bc31ca3 elementor-widget elementor-widget-text-editor\" data-id=\"4bc31ca3\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p data-start=\"406\" data-end=\"605\">Whether it\u2019s a four-legged robot climbing rocky hills or a drone hovering over a building site, <strong data-start=\"502\" data-end=\"516\">locomotion<\/strong> is what gives mobile robots the power to explore, navigate, and interact with the world.<\/p><p data-start=\"607\" data-end=\"742\">But what makes one locomotion system better than another? Is there a <em data-start=\"676\" data-end=\"685\">perfect<\/em> design? The answer is more nuanced than you might think.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-12a4ca0 elementor-widget elementor-widget-text-editor\" data-id=\"12a4ca0\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-start=\"1857\" data-end=\"1885\">\ud83e\udd16 What Is Locomotion in Robotics?<\/h3><p data-start=\"928\" data-end=\"1144\">To be considered mobile, a robot must have a <strong data-start=\"973\" data-end=\"1041\">mechanism that allows it to exchange forces with the environment<\/strong>\u2014to push, pull, rotate, or slide across surfaces. This mechanism is known as its <strong data-start=\"1122\" data-end=\"1143\">locomotion system<\/strong>.<\/p><p data-start=\"1146\" data-end=\"1307\">Choosing the right locomotion system is a crucial design decision. Each type has strengths and weaknesses, and no single solution is ideal for every environment.<\/p><p data-start=\"1309\" data-end=\"1418\">There is no universally \u201cbest\u201d locomotion method\u2014only those better suited to <strong data-start=\"1386\" data-end=\"1417\">specific tasks and terrains<\/strong>.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-821f703 elementor-widget elementor-widget-image\" data-id=\"821f703\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img fetchpriority=\"high\" decoding=\"async\" width=\"1920\" height=\"1080\" src=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Workspace-_5_.webp\" class=\"attachment-full size-full wp-image-2561\" alt=\"\" srcset=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Workspace-_5_.webp 1920w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Workspace-_5_-300x169.webp 300w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Workspace-_5_-1024x576.webp 1024w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Workspace-_5_-768x432.webp 768w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Workspace-_5_-1536x864.webp 1536w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Workspace-_5_-18x10.webp 18w\" sizes=\"(max-width: 1920px) 100vw, 1920px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-c983314 elementor-widget elementor-widget-text-editor\" data-id=\"c983314\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-start=\"1857\" data-end=\"1885\">\ud83d\udc3e Learning from Nature: Bio-Inspired Locomotion<\/h3><p data-start=\"1478\" data-end=\"1734\">Fortunately, roboticists don\u2019t have to start from scratch. Nature has already provided incredible templates for movement. <strong data-start=\"1600\" data-end=\"1645\">Humans, animals, birds, insects, and fish<\/strong> have evolved highly efficient and adaptive locomotion strategies over millions of years.<\/p><p data-start=\"1736\" data-end=\"1840\">Drawing inspiration from these systems has given rise to a fascinating field: <strong data-start=\"1814\" data-end=\"1839\">bio-inspired robotics<\/strong>.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-324d52d elementor-widget elementor-widget-text-editor\" data-id=\"324d52d\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-start=\"1857\" data-end=\"1885\">\ud83d\udeb6\u200d\u2642\ufe0f Legged Robots: Flexibility Meets Complexity<\/h3><p data-start=\"2042\" data-end=\"2252\">Legged robots\u2014often modeled after <strong data-start=\"2076\" data-end=\"2100\">humans or quadrupeds<\/strong>\u2014offer excellent flexibility. They can move across <strong data-start=\"2151\" data-end=\"2178\">structured environments<\/strong> like buildings and <strong data-start=\"2198\" data-end=\"2219\">unstructured ones<\/strong> like rubble, forests, or stairs.<\/p><p data-start=\"2254\" data-end=\"2286\">This type of locomotion enables:<\/p><ul data-start=\"2287\" data-end=\"2375\"><li data-start=\"2287\" data-end=\"2311\"><p data-start=\"2289\" data-end=\"2311\">Walking and climbing<\/p><\/li><li data-start=\"2312\" data-end=\"2335\"><p data-start=\"2314\" data-end=\"2335\">Jumping and running<\/p><\/li><li data-start=\"2336\" data-end=\"2375\"><p data-start=\"2338\" data-end=\"2375\">Balancing on uneven or soft terrain<\/p><\/li><\/ul><p data-start=\"2377\" data-end=\"2582\">But these advantages come at a cost: <strong data-start=\"2414\" data-end=\"2462\">high mechanical and computational complexity<\/strong>. Precise <strong data-start=\"2472\" data-end=\"2485\">actuation<\/strong>, <strong data-start=\"2487\" data-end=\"2508\">real-time sensing<\/strong>, and <strong data-start=\"2514\" data-end=\"2536\">control algorithms<\/strong> are critical to making them work effectively.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-e1ef5c9 elementor-widget elementor-widget-text-editor\" data-id=\"e1ef5c9\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h2 data-start=\"1792\" data-end=\"1824\">\u2699\ufe0f Wheels: Simple, Efficient, and Human-Made<\/h2><p data-start=\"2638\" data-end=\"2835\">On the other end of the spectrum, we have <strong data-start=\"2680\" data-end=\"2702\">wheeled locomotion<\/strong>\u2014a system not found in nature. You won\u2019t see an animal rolling on wheels, and that\u2019s because <strong data-start=\"2795\" data-end=\"2834\">wheels are a purely human invention<\/strong>.<\/p><p data-start=\"2837\" data-end=\"2883\">Despite that, they\u2019ve revolutionized mobility.<\/p><p data-start=\"1826\" data-end=\"1863\">&lt;!&#8211; Image 3: &#8220;Wheeled Robot Motion Mechanics&#8221; \u2013 diagram of wheeled robot with motion arrows, placed here &#8211;&gt;<\/p><p data-start=\"2996\" data-end=\"3007\">Wheels are:<\/p><ul data-start=\"3008\" data-end=\"3132\"><li data-start=\"3008\" data-end=\"3031\"><p data-start=\"3010\" data-end=\"3031\">Mechanically simple<\/p><\/li><li data-start=\"3032\" data-end=\"3052\"><p data-start=\"3034\" data-end=\"3052\">Energy-efficient<\/p><\/li><li data-start=\"3053\" data-end=\"3132\"><p data-start=\"3055\" data-end=\"3132\">Perfect for <strong data-start=\"3067\" data-end=\"3106\">smooth, flat, man-made environments<\/strong> (roads, factories, homes)<\/p><\/li><\/ul><p data-start=\"3134\" data-end=\"3197\">That\u2019s why cars, trains, and shopping carts all rely on wheels.<\/p><p data-start=\"3199\" data-end=\"3309\">However, once you move off-road or onto <strong data-start=\"3239\" data-end=\"3265\">soft or uneven terrain<\/strong>, wheels lose their efficiency dramatically.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-455a2f8 elementor-widget elementor-widget-text-editor\" data-id=\"455a2f8\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h2 data-start=\"2302\" data-end=\"2336\">\ud83d\ude81 Taking to the Skies: Aerial Locomotion<\/h2><p data-start=\"3655\" data-end=\"3748\">Lastly, we can\u2019t ignore the <strong data-start=\"3683\" data-end=\"3724\">fast-growing field of aerial robotics<\/strong>, especially <strong data-start=\"3737\" data-end=\"3747\">drones<\/strong>.<\/p><p data-start=\"3750\" data-end=\"3884\">Flying systems operate in <strong data-start=\"3776\" data-end=\"3803\">three-dimensional space<\/strong>, which gives them unmatched mobility. However, they come with unique challenges:<\/p><ul data-start=\"3885\" data-end=\"3960\"><li data-start=\"3885\" data-end=\"3909\"><p data-start=\"3887\" data-end=\"3909\">Limited battery life<\/p><\/li><li data-start=\"3910\" data-end=\"3934\"><p data-start=\"3912\" data-end=\"3934\">Payload restrictions<\/p><\/li><li data-start=\"3935\" data-end=\"3960\"><p data-start=\"3937\" data-end=\"3960\">High control complexity<\/p><\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-fa297d4 elementor-widget elementor-widget-text-editor\" data-id=\"fa297d4\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h2 data-start=\"2302\" data-end=\"2336\">\ud83e\udded Final Thoughts<\/h2><p data-start=\"4887\" data-end=\"5043\">In robotics, <strong data-start=\"4900\" data-end=\"4925\">context is everything<\/strong>. Understanding the environment and mission of your robot will help you select the most appropriate locomotion system.<\/p><p data-start=\"5045\" data-end=\"5202\">From <strong data-start=\"5050\" data-end=\"5071\">bio-inspired legs<\/strong> to <strong data-start=\"5075\" data-end=\"5100\">human-invented wheels<\/strong> to <strong data-start=\"5104\" data-end=\"5126\">sky-soaring drones<\/strong>, today\u2019s robots are limited only by our creativity\u2014and the laws of physics.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-c5d20e7 e-con-full e-flex e-con e-parent\" data-id=\"c5d20e7\" data-element_type=\"container\" data-e-type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-0741169 elementor-bg-transform elementor-bg-transform-move-left elementor-cta--layout-image-left elementor-cta--mobile-layout-image-above elementor-cta--skin-classic elementor-animated-content elementor-widget elementor-widget-call-to-action\" data-id=\"0741169\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"call-to-action.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"elementor-cta\">\n\t\t\t\t\t<div class=\"elementor-cta__bg-wrapper\">\n\t\t\t\t<div class=\"elementor-cta__bg elementor-bg\" style=\"background-image: url(https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/06\/odometry_control.webp);\" role=\"img\" aria-label=\"odometry_control\"><\/div>\n\t\t\t\t<div class=\"elementor-cta__bg-overlay\"><\/div>\n\t\t\t<\/div>\n\t\t\t\t\t\t\t<div class=\"elementor-cta__content\">\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<h2 class=\"elementor-cta__title elementor-cta__content-item elementor-content-item\">\n\t\t\t\t\t\tWant to learn more?\t\t\t\t\t<\/h2>\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<div class=\"elementor-cta__description elementor-cta__content-item elementor-content-item\">\n\t\t\t\t\t\tYou can find a detailed explaination of locomotions systems for mobile robots in  the \"Self Driving and ROS 2 - Learn by Doing! Odometry  &amp; Control\" course\t\t\t\t\t<\/div>\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<div class=\"elementor-cta__button-wrapper elementor-cta__content-item elementor-content-item\">\n\t\t\t\t\t<a class=\"elementor-cta__button elementor-button elementor-size-\" href=\"\" target=\"_blank\">\n\t\t\t\t\t\tEnroll Now\t\t\t\t\t<\/a>\n\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t<div class=\"elementor-ribbon elementor-ribbon-right\">\n\t\t\t\t<div class=\"elementor-ribbon-inner\">\n\t\t\t\t\tDISCOUNT\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-180426a elementor-widget elementor-widget-spacer\" data-id=\"180426a\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>","protected":false},"excerpt":{"rendered":"<p>Whether it\u2019s a four-legged robot climbing rocky hills or a drone hovering over a building site, locomotion is what gives mobile robots the power to explore, navigate, and interact with the world. But what makes one locomotion system better than another? Is there a perfect design? The answer is more nuanced than you might think. [&hellip;]<\/p>\n","protected":false},"author":4,"featured_media":2561,"comment_status":"closed","ping_status":"open","sticky":false,"template":"elementor_header_footer","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[47,176,45,43],"tags":[190,126,84,66,191,74,185,187,188,192,131,113,132,100,75,71,107,72,186,130,189],"class_list":["post-2559","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-linux","category-ros","category-ros-2","category-tutorials","tag-aerial","tag-base","tag-c","tag-learn-by-doing","tag-legged","tag-linux","tag-locomotion","tag-mobile","tag-mobile-robots","tag-natural","tag-node","tag-odometry","tag-publisher","tag-robot","tag-robotics","tag-ros","tag-ros-2","tag-ros2","tag-system","tag-topic","tag-wheels"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.6 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Choosing the Right Locomotion System for Mobile Robots - Learn by Doing!<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/learnbydoing.dev\/es\/choosing-the-right-locomotion-system-for-mobile-robots\/\" \/>\n<meta property=\"og:locale\" content=\"es_ES\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Installing ROS 2 Jazzy on Ubuntu 24.04: Step-by-Step Tutorial\" \/>\n<meta property=\"og:description\" content=\"Whether it\u2019s a four-legged robot climbing rocky hills or a drone hovering over a building site, locomotion is what gives mobile robots the power to explore, navigate, and interact with the world. But what makes one locomotion system better than another? Is there a perfect design? The answer is more nuanced than you might think. 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