Xue Yongjiang, Wang Wei, Duan Mingyu, Jiang Nanqing, Zhang Shaoshi, Xiao Xuan
School of Computer Science and Technology, Tiangong University, Tianjin 300387, China.
Department of Electronic Information and Engineering, Tiangong University, Tianjin 300387, China.
Biomimetics (Basel). 2025 Jul 2;10(7):435. doi: 10.3390/biomimetics10070435.
Legged robots face inherent challenges in energy efficiency and stability at high speeds due to the repetitive acceleration-deceleration cycles of swing-based locomotion. To address these limitations, this paper presents a motion strategy that uses rolling gait instead of swing gait to improve the energy efficiency and stability. First, a wheel-legged quadruped robot, R-Taichi, is developed, which is capable of switching to legged, wheeled, and RHex mobile modes. Second, the mechanical structure of the transformable two-degree-of-freedom leg is introduced, and the kinematics is analyzed. Finally, experiments are conducted to generate wheeled, legged, and RHex motion in both swing and rolling gaits, and the energy efficiency is further compared. The experimental results show that the rolling motion can ensure stable ground contact and mitigate cyclic collisions, reducing specific resistance by up to 30% compared with conventional swing gaits, achieving a top speed of 0.7 m/s with enhanced stability (root mean square error (RMSE) reduction of 22% over RHex mode). Furthermore, R-Taichi exhibits robust multi-terrain adaptability, successfully traversing gravel, grass, and obstacles up to 150 mm in height.
由于基于摆动的运动存在重复的加速-减速循环，有腿机器人在高速时面临能源效率和稳定性方面的固有挑战。为解决这些限制，本文提出一种运动策略，该策略使用滚动步态而非摆动步态来提高能源效率和稳定性。首先，研发了一种轮腿四足机器人R-Taichi，它能够切换到腿部、轮式和RHex移动模式。其次，介绍了可变形二自由度腿的机械结构，并对其运动学进行了分析。最后，进行实验以生成摆动步态和滚动步态下的轮式、腿部和RHex运动，并进一步比较能源效率。实验结果表明，滚动运动可确保稳定的地面接触并减轻周期性碰撞，与传统摆动步态相比，比电阻降低高达30%，在增强稳定性的情况下（与RHex模式相比，均方根误差（RMSE）降低22%）实现了0.7 m/s的最高速度。此外，R-Taichi展现出强大的多地形适应性，成功穿越了砾石、草地以及高达150毫米的障碍物。
