Free Gait Algorithm with Two Returning Legs of a Leg-Wheel Robot

摘要

The leg-wheel robot we developed has four legs and two wheels mechanically separated and operates with high mobility and stably on rough terrain. We propose a free gait algorithm for the leg-wheel robot that enables continuous locomotion under random velocity commands. The gait algorithm, based on a predictive event-driven approach, determines leg-lift timing to keep legs within prescribed work areas. The robot is operated remotely by an operator who uses a controller to give straight velocity and angular velocity. Our algorithm fully automates leg control via the operator's commands, and its feasibility was confirmed in simulation and experiments.