Idea of wheel-legged robot and its control system design

Abstract

The wheel-legged robot is a vehicle with many degrees of freedom. Thanks to its peculiar design, depending on the need, the vehicle will use one of its ways of moving: travelling on wheels or walking (in special situations), which enhances its locomotive properties. The paper presents the robot's kinematic wheel suspension system, general operation strategy and control system. The application responsible for robot control and data visualization is described. Finally, selected tests of the algorithms, carried out on the robot prototype, are presented.