An Analysis of the Design and Kinematic Characteristics of an Octopedic Land–Air Bionic Robot
Jianwei Zhao, Jiaping Gao, Mingsong Bao, Hao Zhai, Xu Pei, Zheng Jiang
TL;DR
This paper presents a new octopedal robot design that adapts to complex terrain and includes a flying module for obstacle navigation.
Contribution
The paper introduces an innovative adaptive wheel-leg configuration and a quadrotor module for enhanced terrain navigation.
Findings
The robot's design significantly improves adaptability and mobility in complex environments.
The integrated quadrotor module allows the robot to overcome impassable obstacles via short-distance flight.
Experimental tests validated the effectiveness of the robot's gait planning and dynamic coordination.
Abstract
The urgent need for complex terrain adaptability in industrial automation and disaster relief has highlighted the great potential of octopedal wheel-legged robots. However, their design complexity and motion control challenges must be addressed. In this study, an innovative design approach is employed to construct a highly adaptive robot architecture capable of intelligently adjusting the wheel-leg configuration to cope with changing environments. An advanced kinematic analysis and simulation techniques are combined with inverse kinematic algorithms and dynamic planning to achieve a typical ‘Step-Wise Octopedal Dynamic Coordination Gait’ and different gait planning and optimization. The effectiveness of the design and control strategy is verified through the construction of an experimental platform and field tests, significantly improving the robot’s adaptability and mobility in complex…
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Taxonomy
TopicsRobotic Locomotion and Control · Prosthetics and Rehabilitation Robotics · Robotic Path Planning Algorithms