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Stability Analysis of a Wheel-Track-Leg Hybrid Mobile Robot

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Abstract

This paper proposes a new wheel-track-leg hybrid robot. The hybrid robot comprises a robot body, four driving mechanisms, four independent track devices, two supporting legs and one wheel lifting mechanism, which can fully benefit different advantages from wheeled, tracked and legged robots to adapt itself to varied landforms (the rough terrain and high obstacle). Based on the symmetrical mechanical structure, locomotion modes of the mobile robot are analyzed. With the coordinate transformation matrix, the center of mass of the robot is described. Moreover, the stability pyramid method is used to analyze on the climbing motion, especially in the hybrid locomotion mode. Through theoretical analysis, simulation and experimental verification, it’s proven that the robot can remain stable in the process of climbing motion.

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Acknowledgments

The work is supported by the Open Foundation of first level Zhejiang Province Key in Key Discipline of Control Science and Engineering.

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Authors and Affiliations

  1. Robotics Institution of Shanghai Jiaotong University, Dongchuan Road 800, Shanghai, 200240, People’s Republic of China

    Yuhang Zhu, Yanqiong Fei & Hongwei Xu

  2. School of Automation, Hangzhou Dianzi University, Hangzhou, People’s Republic of China

    Yanqiong Fei

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  1. Yuhang Zhu
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  2. Yanqiong Fei
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  3. Hongwei Xu
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Correspondence to Yanqiong Fei.

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Zhu, Y., Fei, Y. & Xu, H. Stability Analysis of a Wheel-Track-Leg Hybrid Mobile Robot. J Intell Robot Syst 91, 515–528 (2018). https://doi.org/10.1007/s10846-017-0724-1

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  • DOI: https://doi.org/10.1007/s10846-017-0724-1

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