The Gait Planning of the Wheel-Legged Adaptable Hybrid Robot

Abstract

A novel wheel-legged adaptable hybrid robot is proposed in this paper. According to the problem of foot-end trajectory and gait planning of the robot, Firstly, in order to guarantee the robot to minimize the shock effect during the moment of leg lifting and landing, a zero-impact foot-end trajectory based on optimized composite cycloid is proposed. Secondly, the walk gait is planned pledging that more than three legs of the robot are in connect with the ground so that the robot has a good stability when running on the unstructured environment. In this paper, a three-layer distributed control system is adopted to realize the operation of different modes of the robot. The simulation experiment of the robot has been carried out with the help of Adams. Finally, A series of experiments have been performed on the prototype of the wheel - legged robot. The experimental results show that the robot can walk correctly in the planned foot-end trajectory and the planned gait, which can verify the planned foot-end trajectory and gait are effective and feasible.