STABILITY AND GAIT OPTIMIZATION OF A HYBRID LEGGED-WHEELED ROVER

Abstract

In this paper, we discuss the stability and gait optimization of a new kind of hybrid legged-wheeled rover. In order to control this complex robot, kinematic analysis is needed for both its wheeled and legged mobility system. With these kinematic models, we analyze the proper location of the legs during both the standing and walking phase and develop an optimization scheme to provide a stable locomotion sequence for the robot when in its legged configuration. We also compare and contrast two walking gaits associated with hexapod robots, and converge on a final gait based on this analysis for the legged mobility system of this new hybrid rover. Details of the optimization approach as well as results using the physical hardware are presented in the paper.