# Autonomous Locomotion Mode Transition in Quadruped Track-Legged Robots: A Simulation-Based Analysis for Step Negotiation

## TL;DR

This paper presents a simulation-based method enabling hybrid quadruped robots to autonomously switch between wheel and leg modes during step negotiation, optimizing energy efficiency for adaptable terrain navigation.

## Contribution

It introduces an energy-based decision mechanism for autonomous mode transition in hybrid quadruped robots during step negotiation, validated through simulations.

## Key findings

- Successful autonomous mode transitions across varied step heights
- Effective energy-based decision-making for locomotion mode selection
- Universal applicability to similar hybrid robot configurations

## Abstract

Hybrid track/wheel-legged robots combine the advantages of wheel-based and leg-based locomotion, granting adaptability across varied terrains through efficient transitions between rolling and walking modes. However, automating these transitions remains a significant challenge. In this paper, we introduce a method designed for autonomous mode transition in a quadruped hybrid robot with a track/wheel-legged configuration, especially during step negotiation. Our approach hinges on a decision-making mechanism that evaluates the energy efficiency of both locomotion modes using a proposed energy-based criterion. To guarantee a smooth negotiation of steps, we incorporate two climbing gaits designated for the assessment of energy usage in walking locomotion. Simulation results validate the method's effectiveness, showing successful autonomous transitions across steps of diverse heights. Our suggested approach has universal applicability and can be modified to suit other hybrid robots of similar mechanical configuration, provided their locomotion energy performance is studied beforehand.

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Source: https://tomesphere.com/paper/1905.04235