Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

Abstract

This comprehensive review delves into the realm of bipedal wheel-legged robots, focusing on their design, control, and applications in assistive technology and disaster mitigation. Drawing insights from various fields such as robotics, computer science, and biomechanics, it offers a holistic understanding of these robots' stability, adaptability, and efficiency. The analysis encompasses optimization techniques, sensor integration, machine learning, and adaptive control methods, evaluating their impact on robot capabilities. Emphasizing the need for adaptable, terrain-aware control algorithms, the review explores the untapped potential of machine learning and soft robotics in enhancing performance across diverse operational scenarios. It highlights the advantages of hybrid models combining legged and wheeled mobility while stressing the importance of refining control frameworks, trajectory planning, and human-robot interactions. The concept of integrating soft and compliant mechanisms for improved adaptability and resilience is introduced. Identifying gaps in current research, the review suggests future directions for investigation in the fields of robotics and control engineering, addressing the evolution and terrain adaptability of bipedal wheel-legged robots, control, stability, and locomotion, as well as integrated sensory and perception systems, microcontrollers, cutting-edge technology, and future design and control directions.