Eight wheel-legged mobile robot platform design and kinematic analysis

Abstract

A new type of eight wheel-legged mobile robot platform which can use its wheels march on a flat terrain environment and use it's wheel legs on an uneven terrain environment is proposed in this paper.This new wheel-legged mobile robot platform has a strong ability to adapt to the terrain.The structural design and kinematics analysis of this mobile platform are done in this paper,and the inverse kinematics analysis of the results is verified by the simulation result.