Omnidirectional Gait Switching Method of Electric Parallel Wheel-foot Robot Based on Velocity Vector

doi:10.3901/JME.2019.01.017

Abstract

Abstract: The kinematic model of the electric parallel-type wheel-foot robot is built. Under the constraint of single-leg working space and the stability of walking, the basic gait design of intermittent gait and rotation gait is completed to ensure that the robot in a large load condition can walk steadily. The correspondence between the rotation center position of the robot velocity vector and the different basic gait is analyzed. The omnidirectional gait switching method of electric parallel wheel-foot robot based on velocity vector is proposed. The optimal timing of gait mode switching is analyzed, and the gait switching process between different gaits is introduced in detail. The simulation and experimental verification of the gait transition method are carried out by virtual prototyping and physical prototyping platform. The results of simulation and experiment show that the stability margin of the electric parallel wheel-foot robot is not less than zero in the basic gait walking and gait switching process, and the roll angle and pitch angle of the robot body are -1.5°-4° and -2.8°-2.5° range, the method can ensure the robot to complete the gait switch stably.

Key words: gait switch, quadruped robot, stability margin, velocity vector

CLC Number:

TP242

LIU Dongchen, WANG Junzheng, WANG Shoukun, PENG Hui. Omnidirectional Gait Switching Method of Electric Parallel Wheel-foot Robot Based on Velocity Vector[J]. Journal of Mechanical Engineering, 2019, 55(1): 17-24.

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