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이왕훈(Wanghun Lee),레광환(Quang Hoan Le),강현수(Hyunsoo Kwang),박태영(Taeyoung Park),신기연(Kiyeon Shin),신현상(Hyeonsang Shin),신부현(Buhyun Shin) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.11
This study proposes a novel design of a hybrid leg-wheel quadruped robot which comprises 2 DOFs (prismatic joint and revolute joint) for leg and one rotational joint for wheel. The robot is able to utilize on rough terrain by conducting walking gait or to drive rapidly on the flat ground via wheels. Firstly, the design of structure and mechanism are illustrated based on analysis of the function and performance requirement. The design indicates that the robot is able to conduct several movement modes to adapt to diverse surfaces. Then, the gait of legged mode is also presented with three supporting legs and one transferring leg. There are totally six motion steps of the walking algorithm for the quadruped robot. Besides, the robot can drive several situations when conducting leg-wheel hybrid mode. The performance for the robot locomotion is validated by using Matlab SimscapeMultibody software. The simulation result indicated that our proposed robot has ability to implement successfully on both flat surface of rough terrain.