Development of a Wheel-Paddle Integrated Quadruped Robot for Rough Terrain and its Verification on Hybrid Mode

To enhance the motion performance of all-terrain robots, an eccentric paddle mechanism (ePaddle) based on planet gear mechanism was designed. This letter is on the design, control scheme, and implementation of a wheel-paddle integrated quadruped robot based on the ePaddle mechanism. To ensure the reliability and ruggedness in harsh environment, protection measures were added to both electrical system and crucial mechanical parts. To negotiate rough terrain effectively, hybrid mode was introduced, which is more efficient comparing with other legged modes and easier to transit among three supporting gestures according to the variation of terrain situation. Each joint has been measured to follow accurate trajectories of position. Indoor and outdoor tests were conducted with the described hybrid mode, which verified the whole design and the negotiability in rough terrain.