Xiaotian-Hybrid: A Novel Wheeled-Quadruped Platform

Ren，Taiheng; Cao，Zhefeng; Chen，Hua; Zhang，Wei

10.1109/ICMRE56789.2023.10106567

2023

9th International Conference on Mechatronics and Robotics Engineering (ICMRE)

978-1-6654-6327-0

2023 9th International Conference on Mechatronics and Robotics Engineering, ICMRE 2023

8-12

FEB 10-12, 2023

null,null,ELECTR NETWORK

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Wheeled robots and legged robots are two primary classes of mobile robots, possessing different features and excel in different aspects. Wheeled robots can reach higher speed on flat ground with relatively high energy efficiency, while legged robots can move reliably on uneven terrain and overcome obstacles. In this paper, we design a wheeled-quadruped robot "Xiaotian-Hybrid", which combines the advantages from both wheeled and legged mechanisms and can switch moving mode between driving and stepping to achieve balance between efficiency and traversability. In addition, quadruped robots are always hard to assemble and disassemble due to the complex power transmission system on their legs and non-standard connection parts with hard-to-reach screws. We apply the idea of bottom-up modular design to make each essential part of the robot isolated from others, and therefore improving maintainability.

Force Control Quadruped Robots Wheeled Robots

第一 ; 通讯

英语

CPCI-S ; EI

National Natural Science Foundation of China["62073159","62003155"]

Computer Science ; Engineering ; Robotics

Computer Science, Artificial Intelligence ; Engineering, Mechanical ; Robotics

WOS:001008746000002

20232014093687

Electric power transmission ; Intelligent robots ; Machine design ; Multipurpose robots

Energy Conservation:525.2 ; Mechanical Design:601 ; Electric Power Transmission:706.1.1 ; Robotics:731.5 ; Robot Applications:731.6

2-s2.0-85159093211

Scopus

Southern University of Science and Technology,Department of Mechanical and Energy Engineering,Shenzhen,China

Ren，Taiheng,Cao，Zhefeng,Chen，Hua,et al. Xiaotian-Hybrid: A Novel Wheeled-Quadruped Platform[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2023:8-12.