Development status and key technology analysis for motion planning of wheel-legged hybrid mobile robot

被引：0
|
作者：
Guo F. [1 ,2 ,3 ]
Wang S.-K. [1 ,2 ,3 ]
Wang J.-Z. [1 ,2 ,3 ]
机构：
[1] School of Automation, Beijing Institute of Technology, Beijing
[2] State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Institute of Technology, Beijing
[3] Industry and Informatization Department Key Laboratory of Drive and Control for Servo Motion Systems, Beijing Institute of Technology, Beijing
来源：
Kongzhi yu Juece/Control and Decision | 2022年 / 37卷 / 06期
关键词：
Motion control; Motion planning; Wheel-legged hybird locomotion; Wheel-legged hybrid robot;
D O I：
10.13195/j.kzyjc.2021.0052
中图分类号：
学科分类号：
摘要：
Ground mobile robots have been widely applied in many fields such as resource exploration and disaster rescue. The wheel-legged hybrid robot is capable of combining the fast speed and high stability of wheeled motion and high obstacle-negotiation performance of legged locomotion, which has high research value both in engineering technology and theoretical innovation. We analyze and compare the domestic and overseas wheel-legged hybrid robot's mechanical structure, classify the wheel-legged hybrid structure's combination mode as four types to make a list and summary. Focusing on the benefit of multi-modal motion to expand analysis, we enumerate the primary motion modeling, control, and planning strategy for the wheel-legged hybrid robot. It involves the single-legged locomotion and wheeled motion, as well as foot negotiation, deformable obstacle avoidance, and trajectory planning in wheel-legged hybrid locomotion. While making the conclusion and outlook for crucial technology in motion planning, we indicate the future development direction, research idea, and challenge for wheel-legged hybrid robots. Copyright ©2022 Control and Decision.
引用
收藏
页码：1433 / 1444
页数：11
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