Abstract
Since the existing quadruped robots based on tandem mechanical leg structure can't meet the requirements of large carrying capacity, strong environmental adaptability and fast moving speed simultaneously, a structural principle of a wheel-foot robot based on parallel 6-DOF (degree of freedom) structure is proposed which integrates the advantages of wheel and foot motion. Based on the kinematics and dynamics analysis of the parallel wheel-leg, a dynamic model of a single leg and a kinematic model of the robot are established. A posture adjustment algorithm of the robot body is proposed, which improves the posture stability of the robot in movement effectively. Simulation and experimental results show the feasibility of the proposed wheel-foot robot and the effectiveness of the robot posture adjustment strategy in wheeled motion.
| Translated title of the contribution | An Electric Wheel-Foot Robot Based on Parallel 6-DOF Structure |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 65-74 and 82 |
| Journal | Jiqiren/Robot |
| Volume | 41 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 1 Jan 2019 |