Free Gait Algorithm with Two Returning Legs of a Leg-Wheel Robot

Abstract

The leg-wheel robot we developed has four legs and two wheels mechanically separated and operates with high mobility and stably on rough terrain. We propose a free gait algorithm for the leg-wheel robot that enables continuous locomotion under random velocity commands. The gait algorithm, based on a predictive event-driven approach, determines leg-lift timing to keep legs within prescribed work areas. The robot is operated remotely by an operator who uses a controller to give straight velocity and angular velocity. Our algorithm fully automates leg control via the operator's commands, and its feasibility was confirmed in simulation and experiments. This paper is the full translation from the transactions of JSME Vol.71, No.705.