A Digitigrade Wheeled Bipedal Robot and Its Obstacle Avoidance Actions Library

The current wheel-legged robots are mainly deformed wheeled or multi-legged robots, and there is little research on humanoid wheel-legged robots. To integrate wheel-legged robots into human society further, we propose a wheeled bipedal robot with bionic joints and establish an obstacle avoidance actions library to enhance its active ability to overcome obstacles. We use closed vector equations and the Modified Denavit-Hartenberg (MDH) method to build the single-leg model. The bionic joints introduce two closed kinematics loops. We handle this by converting these closed loops into spanning trees. We prove that the robot can actively overcome different types of obstacles by calling the actions in the library. This research provides an idea for enhancing the motion capability of wheel-legged robots, which further enhances the possibility of wheel-legged robots serving human society in reality.