A Wheel to Leg Transformation Strategy in a Leg-Wheel Transformable Robot
- Resource Type
- Conference
- Authors
- Wang, Hua-Yu; Chen, Liang-Jie; Yu, Wei-Shun; Lin, Pei-Chun
- Source
- 2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) Advanced Intelligent Mechatronics (AIM), 2023 IEEE/ASME International Conference on. :293-298 Jun, 2023
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Engineering Profession
Robotics and Control Systems
Transportation
Legged locomotion
Energy consumption
Mechatronics
Robot kinematics
Wheels
Kinematics
Stability analysis
Robot
Leg-wheel
transformation
modeling
kinematics
Webots
- Language
- ISSN
- 2159-6255
This study focuses on the wheel-to-leg transformation strategy of a leg-wheel transformable robot. The leg-wheel robot capable of fast transformation by 11-linkage mechanism has a leg length 3.4 times longer than its wheel radius. Because the robot in legged mode has fixed relative phases among the legs for locomotion, while the robot in wheeled mode has random phases owing to wheel steering, the transformation takes into account phase regulation. The transformation of a single leg-wheel is designed to minimize energy consumption to enable it to lift its body. The coordination of the leg-wheels during transformation is designed to maintain stability and prevent leg slippage in kinematic constraint. The proposed strategy was simulated and experimentally validated, and the results confirm its functionality.