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Experimental research of wheel-legged robot crossing obstacles

Published online by Cambridge University Press:  24 June 2025

Xin Mei Open the ORCID record for Xin Mei [Opens in a new window] ,
Yongle Wei ,
Chenguang Guo  and
Xingyuan Zhang
Xin Mei
Affiliation:
School of Mechanical Engineering, Liaoning Technical University, Fuxin, Liaoning, China
Yongle Wei*
Affiliation:
College of Mechanical Engineering, Quzhou University, Quzhou, Zhejiang, China
Chenguang Guo
Affiliation:
School of Mechanical Engineering, Liaoning Technical University, Fuxin, Liaoning, China
Xingyuan Zhang
Affiliation:
School of Mechanical Engineering, Liaoning Technical University, Fuxin, Liaoning, China
*
Corresponding author: Yongle Wei; Email: weiyongle126@126.com
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Abstract

Wheel-leg composite robots exhibit robust mobility and exceptional obstacle-crossing capabilities in complex environments. This paper proposes a novel transformable wheel-leg composite structure and presents the design of a wheel-leg composite obstacle-crossing robot, fundamentally configured as a two-wheeled quadruped. The research encompasses a comprehensive analysis of the robot’s overall mechanical structure, a detailed kinematic investigation of its body and obstacle-crossing gait planning, virtual prototype dynamics simulation, and field experimentation. Utilizing advanced modeling software, a 3D model of the robot was established. The kinematic characteristics of the robot in both wheeled and legged modes were thoroughly examined. Specifically, for the legged mode, the Denavit-Hartenberg coordinate system was established, and a detailed kinematic model was analyzed. The obstacle-crossing gait was planned based on the robot’s leg action mechanism. Furthermore, the Lagrangian method was employed to develop a mathematical model for the dynamics of the robot in both wheel-foot modes, allowing for a comprehensive force analysis. To validate the feasibility and rationality of the robot’s obstacle-crossing capabilities under various conditions, extensive simulations and prototype tests were conducted across diverse terrains. The results provide valuable insights and practical guidance for the structural design of wheel-leg composite obstacle-crossing robots, contributing to advancements in this promising field.

Keywords

wheel-legged robotobstacle-crossing gait planningmode switch

Information

Type
Research Article
Information
Robotica , First View , pp. 1 - 21
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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