Research On Motion Planning And Control Of A Leg-wheel Hybrid Robot

Common robot contains two categories, one moves by legs, another one moves by wheels. Wheel-Robot moves fast, but its requirements are very demanding on the terrain environment. Leg-Robot has strong adaptability of the terrain environment, but it moves so slowly. So it’s a hot topic that a robot can not only move by the wheels, but also can walk by the feet. About this question, this paper presents a new kind of solution that combine Leg-Robot and Wheel-Robot together.Firstly, according to the case that combine Leg-Robot and Wheel-Robot which has existed, we broke the robot which combine leg and foot on a same architecture, so we suggest a solution which seprate the wheel from the leg. In wheel-move mode, legs pull back to the body of the robot, then the robot move more fast, in leg-move mode, wheels leave the ground, and the environment of the terrain won’t affect the moving robot. The design will make the moving by wheel or leg and the mode switching more stable and efficiency.Secondly, it’s intelligent for the robot on travelling mode switch. Through processing the image which the robot caught, the robot can determine the road conditions automatically when the environment changes, so as to realize the intelligent switching walking state.Lastly, the robot is equipped with a wireless control system. In addition to the intelligent move mode of the robot, the robot’s state also can be controlled by PC, then we can control or monitoring the robot in real-time. Advantaging of the wireless control system of the robot, we also can set up a wireless network in a certain range to increase the control of the robot.