SWhegPro: A Novel Robust Wheel-Leg Transformable Robot

Cunxi Dai; Xiaohan Liu; Jianxiang Zhou; Zhengtao Liu; Zheng Zhu; Zhenzhong Jia

10.1109/ROBIO55434.2022.10011955

2022

978-1-6654-8110-6

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)

421-426

5-9 Dec. 2022

Jinghong, China

This paper reports the design, implementation, and performance evaluation of SWhegPro, a swift and robust wheel-leg transformable robot that can operate under heavy payload. SWhegPro can shift wheel morphology between the wheel, e-shape leg, and S-shape leg, the corresponding gaits were developed and compared in simulation. The wheel/leg operation is driven by the same motor, so the actuation system and power can be utilized efficiently. Different from its predecessor which uses tendon-driven transformation mechanisms, SWhegPro utilizes self-locking electric push rods as transformation actuators. This makes it possible for SWhegPro to operate under heavy loads and is easier to repair. The robot was empirically built, and the design process, mechatronics infrastructure, and gait behavioral development were discussed. The performance of the robot was evaluated in various sce-narios, including driving and turning in wheeled mode, step crossing, and irregular terrain passing in legged mode.

Legged locomotion Performance evaluation Mechatronics Biomimetics Wheels Morphology Maintenance engineering

第一

IEEE

Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China

Cunxi Dai,Xiaohan Liu,Jianxiang Zhou,et al. SWhegPro: A Novel Robust Wheel-Leg Transformable Robot[C],2022:421-426.