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System design and control of the sphere-wheel-legged robot

Published online by Cambridge University Press:  20 September 2024

Lunfei Liang ,
Yuquan Xu ,
Liang Han Open the ORCID record for Liang Han [Opens in a new window]  and
Yu Liu
Lunfei Liang
Affiliation:
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China
Yuquan Xu
Affiliation:
Jianghuai Advance Technology Center, Hefei, China
Liang Han*
Affiliation:
School of Control Engineering, Hefei University of Technology, Hefei, China
Yu Liu*
Affiliation:
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China
*
Corresponding authors: Liang Han; Email: [email protected]; Yu Liu; Email: [email protected]
Corresponding authors: Liang Han; Email: [email protected]; Yu Liu; Email: [email protected]
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Abstract

The two-wheeled legged robot combines the advantages of legged robot and wheeled robot and has high terrain adaptability. Spherical robots are highly resistant to interference during detection. In this paper, a new sphere-wheel-legged robot is designed by combining these three motion modes. This paper begins by introducing the mechanical design, hardware, and software. Then, kinematics and dynamics of wheel-legged motion and spherical motion are analyzed in detail. Subsequently, the controllers for wheel-legged balancing motion, wheel-legged jumping motion, and sphere rolling motion are developed, respectively. Finally, experiments are carried out for different modes. The results demonstrate that the designed robot has excellent locomotor capabilities over different terrains.

Keywords

sphere-wheel-legged robotsystem design and controlmode switchmultimodal robot
Type
Research Article
Information
Robotica , Volume 42 , Issue 10 , October 2024 , pp. 3363 - 3379
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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Footnotes

a

Lunfei Liang and Yuquan Xu contributed equally to this work

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