New frontiers for Epi.q robot family

This document presents a mobile robot family, called Epi.q. The main characteristic of this robot family is a wheel-legged locomotion, accomplished using just one motor per driving unit. These multi-purpose robots can be successfully exploited for security and surveillance tasks. The document contains information regarding the Epi.q state of the art, the robot driving unit, a modular approach for the mechanical architecture and the design of a new prototype