Hybrid obstacle-surmounting gait for hexapod wheel-legged robot in special terrain

Ruoxing Wang; Zhihua Chen; Kang Xu; Shoukun Wang; Junzheng Wang; Bin Li

doi:10.1109/ICARM52023.2021.9536128

Hybrid obstacle-surmounting gait for hexapod wheel-legged robot in special terrain

Ruoxing Wang, Zhihua Chen, Kang Xu^*, Shoukun Wang, Junzheng Wang, Bin Li

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Citations (Scopus)

Abstract

The stable operation with passing obstacles is the main challenge for wheel-legged robots in irregular terrains, especially in the gully terrain. An obstacle-surmounting method of wheel-legged hybrid gait based on perception system is proposed in this paper for gully terrain. Firstly, the system composition and communication mode of the wheel-legged robot are described. Secondly, the kinematics and dynamics models are established, and on this basis, the strategy of wheel-legged compound gait crossing gully landform is designed. Finally, the co-simulation based on MATLAB and V-REP is carried out. The simulation results show that the body of robot can maintain horizontal stability in the process of crossing gully terrain, which verifies the effectiveness of the obstacle-surmounting strategy.

Original language	English
Title of host publication	2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	651-656
Number of pages	6
ISBN (Electronic)	9780738133645
DOIs	https://doi.org/10.1109/ICARM52023.2021.9536128
Publication status	Published - 3 Jul 2021
Event	6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021 - Chongqing, China Duration: 3 Jul 2021 → 5 Jul 2021

Publication series

Name	2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021

Conference

Conference	6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
Country/Territory	China
City	Chongqing
Period	3/07/21 → 5/07/21

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10.1109/ICARM52023.2021.9536128

Cite this

Wang, R., Chen, Z., Xu, K., Wang, S., Wang, J., & Li, B. (2021). Hybrid obstacle-surmounting gait for hexapod wheel-legged robot in special terrain. In 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021 (pp. 651-656). (2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM52023.2021.9536128

Wang, Ruoxing ; Chen, Zhihua ; Xu, Kang et al. / Hybrid obstacle-surmounting gait for hexapod wheel-legged robot in special terrain. 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 651-656 (2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021).

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title = "Hybrid obstacle-surmounting gait for hexapod wheel-legged robot in special terrain",

abstract = "The stable operation with passing obstacles is the main challenge for wheel-legged robots in irregular terrains, especially in the gully terrain. An obstacle-surmounting method of wheel-legged hybrid gait based on perception system is proposed in this paper for gully terrain. Firstly, the system composition and communication mode of the wheel-legged robot are described. Secondly, the kinematics and dynamics models are established, and on this basis, the strategy of wheel-legged compound gait crossing gully landform is designed. Finally, the co-simulation based on MATLAB and V-REP is carried out. The simulation results show that the body of robot can maintain horizontal stability in the process of crossing gully terrain, which verifies the effectiveness of the obstacle-surmounting strategy.",

author = "Ruoxing Wang and Zhihua Chen and Kang Xu and Shoukun Wang and Junzheng Wang and Bin Li",

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doi = "10.1109/ICARM52023.2021.9536128",

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Wang, R, Chen, Z, Xu, K, Wang, S , Wang, J & Li, B 2021, Hybrid obstacle-surmounting gait for hexapod wheel-legged robot in special terrain. in 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021. 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021, Institute of Electrical and Electronics Engineers Inc., pp. 651-656, 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021, Chongqing, China, 3/07/21. https://doi.org/10.1109/ICARM52023.2021.9536128

Hybrid obstacle-surmounting gait for hexapod wheel-legged robot in special terrain. / Wang, Ruoxing; Chen, Zhihua; Xu, Kang et al.
2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 651-656 (2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Hybrid obstacle-surmounting gait for hexapod wheel-legged robot in special terrain

AU - Wang, Ruoxing

AU - Chen, Zhihua

AU - Xu, Kang

AU - Wang, Shoukun

AU - Wang, Junzheng

AU - Li, Bin

PY - 2021/7/3

Y1 - 2021/7/3

N2 - The stable operation with passing obstacles is the main challenge for wheel-legged robots in irregular terrains, especially in the gully terrain. An obstacle-surmounting method of wheel-legged hybrid gait based on perception system is proposed in this paper for gully terrain. Firstly, the system composition and communication mode of the wheel-legged robot are described. Secondly, the kinematics and dynamics models are established, and on this basis, the strategy of wheel-legged compound gait crossing gully landform is designed. Finally, the co-simulation based on MATLAB and V-REP is carried out. The simulation results show that the body of robot can maintain horizontal stability in the process of crossing gully terrain, which verifies the effectiveness of the obstacle-surmounting strategy.

AB - The stable operation with passing obstacles is the main challenge for wheel-legged robots in irregular terrains, especially in the gully terrain. An obstacle-surmounting method of wheel-legged hybrid gait based on perception system is proposed in this paper for gully terrain. Firstly, the system composition and communication mode of the wheel-legged robot are described. Secondly, the kinematics and dynamics models are established, and on this basis, the strategy of wheel-legged compound gait crossing gully landform is designed. Finally, the co-simulation based on MATLAB and V-REP is carried out. The simulation results show that the body of robot can maintain horizontal stability in the process of crossing gully terrain, which verifies the effectiveness of the obstacle-surmounting strategy.

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DO - 10.1109/ICARM52023.2021.9536128

M3 - Conference contribution

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T3 - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021

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BT - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021

PB - Institute of Electrical and Electronics Engineers Inc.

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Wang R, Chen Z, Xu K, Wang S , Wang J, Li B. Hybrid obstacle-surmounting gait for hexapod wheel-legged robot in special terrain. In 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 651-656. (2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021). doi: 10.1109/ICARM52023.2021.9536128

Hybrid obstacle-surmounting gait for hexapod wheel-legged robot in special terrain

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