Research on walking stairs of wheeled-legged robot based on leg structure transformation

Abstract

When using the quadruped control mode to climb and descend stairs, the common wheeled-legged robot is prone to overturn due to the collision between the knee joint and the stairs. In this paper, virtual model control method is used as the basic control method, and the deformation mode of leg configuration is designed through the wheeled characteristics of wheeled-legged robot. It can select its Elbow or Knee structures for the ascending and descending stairs. All this work obtains satisfactory results the Simulink simulation.