@inproceedings{3890115bc3df435b9f1b738abd7f16d9,
title = "Design and Optimization of Leg Mechanism for a Wheel-Legged Robot",
abstract = "This study presents a novel leg optimization method for jumping process to enhance the high-dynamic capability of a wheel-legged robot. Taking consideration of excellent actuating capability of electro-hydrostatic actuators, our leg mechanism design combines with this technique which works in joints. A four-bar linkage mechanism is adopted to improve the range and torque performance of knee joints, meanwhile, kinematic models of two joints are established. After generating an optimization model for jumping process, a dimensional synthesis paradigm of the hip and knee mechanisms was carried out to minimize the peak force demand of actuators. Finally, we applied a multi-rigid body dynamics model based on Simulink, where the effectiveness of our approach was verified by comparing the performance of actuators before and after optimization.",
keywords = "Linkage design, Mechanism, Optimization, Wheel-legged robot",
author = "Qingyi Shang and Hui Liu and Shida Nie and Lijin Han and Jingshuo Xie",
note = "Publisher Copyright: {\textcopyright} The Chinese Mechanical Engineering Society 2027.; International Conference on Mechanical Design, ICMD 2025 ; Conference date: 09-05-2025 Through 11-05-2025",
year = "2027",
doi = "10.1007/978-981-95-7904-4\_56",
language = "English",
isbn = "9789819579037",
series = "Mechanisms and Machine Science",
publisher = "Springer Science and Business Media B.V.",
pages = "797--808",
editor = "Jianrong Tan and Zhenyu Liu and Weifei Hu",
booktitle = "Advances in Mechanical Design - Proceedings of The 2025 International Conference on Mechanical Design ICMD 2025",
address = "Germany",
}