Abstract
Developing an intelligent robot platform that has multiple motion modes and can actively adjust the motion mode according to an operation situation is necessary in resolving the inability of single-mode robots to adapt completely to complex environments. In this study, we designed a robot that has multiple motion modes and can switch freely in these existing modes. The robot has the following modes: Four-legged walking, two-legged walking, pulse scrolling, and crawler movement. In the robot’s design, these modes are not just simple mechanisms involving superposition and motion switching. These modes involve a degree of freedom in reuse, thereby reducing the number of drives and obtaining a compact structure while achieving a coherent transition of each action mode. For higher load ratios, motion continuity are increased. The robot platform can balance itself during movement by adjusting its own mechanism or providing additional force and change its shape and posture over some obstacles by adjusting its own mechanism.
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