Dynamic modelling and motion planning for a hybrid legged—wheeled mobile vehicle

Abstract

This paper presents the dynamic modelling and energy-optimal motion planning of a hybrid legged-wheeled mobile vehicle. The equations describing the dynamic behaviour of such vehicles are complex. Kane's method and the Autolev symbolic manipulation package was used in the dynamic modelling. A state parameterization method is used to synthesize the leg trajectories for the hybrid vehicle. The resulting energy-optimal gait is experimentally evaluated to show the effectiveness and feasibility of the path planned.