QuWheeleg: Quadruped Wheeled-leg Robot Based on Electromagnetic Clutch Pulse Control

Yiming He; Chao Sun; Xiaolong Quan; Yanzhou Jin; Ruochao Wang; Qing Shi

doi:10.1109/CBS55922.2023.10115391

QuWheeleg: Quadruped Wheeled-leg Robot Based on Electromagnetic Clutch Pulse Control

Yiming He^*, Chao Sun, Xiaolong Quan, Yanzhou Jin, Ruochao Wang, Qing Shi

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

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

Abstract

This paper presents a quadruped wheeled-leg mobile robot. On the basis of the planar four-bar mechanism, an active deformable wheel mechanism is designed, then optimize the deformation ratio based on genetic algorithm. We use an electromagnetic clutch for motion mode switching, which ensures the stability and reliability of robot mode switching without adding extra drive. Furthermore, we propose the electromagnetic clutch high-frequency pulse control method to ensure the continuity of the leg-form motion state. The results obtained through a series of simulations and experimental tests reveal that QuWheeleg has effective barrier crossing performance (150% BL) and high load capacity (2kg), which combines the advantages of wheel and leg motion.

Original language	English
Title of host publication	2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	208-215
Number of pages	8
ISBN (Electronic)	9781665490283
DOIs	https://doi.org/10.1109/CBS55922.2023.10115391
Publication status	Published - 2023
Event	2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022 - Wuhan, China Duration: 24 Mar 2023 → 26 Mar 2023

Publication series

Name	2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022

Conference

Conference	2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022
Country/Territory	China
City	Wuhan
Period	24/03/23 → 26/03/23

Access to Document

10.1109/CBS55922.2023.10115391

Cite this

He, Y., Sun, C., Quan, X., Jin, Y., Wang, R., & Shi, Q. (2023). QuWheeleg: Quadruped Wheeled-leg Robot Based on Electromagnetic Clutch Pulse Control. In 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022 (pp. 208-215). (2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CBS55922.2023.10115391

@inproceedings{58a8936710f749ca93147ae34ce90fb2,

title = "QuWheeleg: Quadruped Wheeled-leg Robot Based on Electromagnetic Clutch Pulse Control",

abstract = "This paper presents a quadruped wheeled-leg mobile robot. On the basis of the planar four-bar mechanism, an active deformable wheel mechanism is designed, then optimize the deformation ratio based on genetic algorithm. We use an electromagnetic clutch for motion mode switching, which ensures the stability and reliability of robot mode switching without adding extra drive. Furthermore, we propose the electromagnetic clutch high-frequency pulse control method to ensure the continuity of the leg-form motion state. The results obtained through a series of simulations and experimental tests reveal that QuWheeleg has effective barrier crossing performance (150% BL) and high load capacity (2kg), which combines the advantages of wheel and leg motion.",

author = "Yiming He and Chao Sun and Xiaolong Quan and Yanzhou Jin and Ruochao Wang and Qing Shi",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022 ; Conference date: 24-03-2023 Through 26-03-2023",

year = "2023",

doi = "10.1109/CBS55922.2023.10115391",

language = "English",

series = "2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "208--215",

booktitle = "2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022",

address = "United States",

}

He, Y, Sun, C, Quan, X, Jin, Y, Wang, R & Shi, Q 2023, QuWheeleg: Quadruped Wheeled-leg Robot Based on Electromagnetic Clutch Pulse Control. in 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022. 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022, Institute of Electrical and Electronics Engineers Inc., pp. 208-215, 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022, Wuhan, China, 24/03/23. https://doi.org/10.1109/CBS55922.2023.10115391

QuWheeleg: Quadruped Wheeled-leg Robot Based on Electromagnetic Clutch Pulse Control. / He, Yiming; Sun, Chao; Quan, Xiaolong et al.
2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022. Institute of Electrical and Electronics Engineers Inc., 2023. p. 208-215 (2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022).

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

TY - GEN

T1 - QuWheeleg

T2 - 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022

AU - He, Yiming

AU - Sun, Chao

AU - Quan, Xiaolong

AU - Jin, Yanzhou

AU - Wang, Ruochao

AU - Shi, Qing

PY - 2023

Y1 - 2023

N2 - This paper presents a quadruped wheeled-leg mobile robot. On the basis of the planar four-bar mechanism, an active deformable wheel mechanism is designed, then optimize the deformation ratio based on genetic algorithm. We use an electromagnetic clutch for motion mode switching, which ensures the stability and reliability of robot mode switching without adding extra drive. Furthermore, we propose the electromagnetic clutch high-frequency pulse control method to ensure the continuity of the leg-form motion state. The results obtained through a series of simulations and experimental tests reveal that QuWheeleg has effective barrier crossing performance (150% BL) and high load capacity (2kg), which combines the advantages of wheel and leg motion.

AB - This paper presents a quadruped wheeled-leg mobile robot. On the basis of the planar four-bar mechanism, an active deformable wheel mechanism is designed, then optimize the deformation ratio based on genetic algorithm. We use an electromagnetic clutch for motion mode switching, which ensures the stability and reliability of robot mode switching without adding extra drive. Furthermore, we propose the electromagnetic clutch high-frequency pulse control method to ensure the continuity of the leg-form motion state. The results obtained through a series of simulations and experimental tests reveal that QuWheeleg has effective barrier crossing performance (150% BL) and high load capacity (2kg), which combines the advantages of wheel and leg motion.

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DO - 10.1109/CBS55922.2023.10115391

M3 - Conference contribution

AN - SCOPUS:85159775307

T3 - 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022

SP - 208

EP - 215

BT - 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 24 March 2023 through 26 March 2023

ER -

He Y, Sun C, Quan X, Jin Y, Wang R, Shi Q. QuWheeleg: Quadruped Wheeled-leg Robot Based on Electromagnetic Clutch Pulse Control. In 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022. Institute of Electrical and Electronics Engineers Inc. 2023. p. 208-215. (2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022). doi: 10.1109/CBS55922.2023.10115391

QuWheeleg: Quadruped Wheeled-leg Robot Based on Electromagnetic Clutch Pulse Control

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