Compound Wheel and Walking Locomotion with Optimization for a Wheeled Bipedal Robot

Abstract

Until now, many types of bipedal leg-wheeled mobile robots have been proposed. However, a compound locomotion, which combines wheeled locomotion and walking simultaneously, have not yet been studied enough. In this paper, the compound locomotion method is proposed in 2D sagittal plane using an optimization technique based on quadratic programming and the effectiveness is demonstrated through numerical simulation results.