# Rolling vs. Swing: A Strategy for Enhancing Locomotion Speed and Stability in Legged Robots

## TL;DR

This paper introduces a new motion strategy for legged robots using rolling gaits to improve speed and stability while reducing energy use.

## Contribution

A novel rolling gait strategy is proposed, demonstrated on a transformable quadruped robot called R-Taichi.

## Key findings

- Rolling gait reduces specific resistance by up to 30% compared to swing gait.
- R-Taichi achieves a top speed of 0.7 m/s with 22% lower RMSE than RHex mode.
- The robot successfully navigates diverse terrains including gravel, grass, and 150 mm obstacles.

## Abstract

Legged robots face inherent challenges in energy efficiency and stability at high speeds due to the repetitive acceleration–deceleration cycles of swing-based locomotion. To address these limitations, this paper presents a motion strategy that uses rolling gait instead of swing gait to improve the energy efficiency and stability. First, a wheel-legged quadruped robot, R-Taichi, is developed, which is capable of switching to legged, wheeled, and RHex mobile modes. Second, the mechanical structure of the transformable two-degree-of-freedom leg is introduced, and the kinematics is analyzed. Finally, experiments are conducted to generate wheeled, legged, and RHex motion in both swing and rolling gaits, and the energy efficiency is further compared. The experimental results show that the rolling motion can ensure stable ground contact and mitigate cyclic collisions, reducing specific resistance by up to 30% compared with conventional swing gaits, achieving a top speed of 0.7 m/s with enhanced stability (root mean square error (RMSE) reduction of 22% over RHex mode). Furthermore, R-Taichi exhibits robust multi-terrain adaptability, successfully traversing gravel, grass, and obstacles up to 150 mm in height.