Zhao Jianwei, Gao Jiaping, Bao Mingsong, Zhai Hao, Pei Xu, Jiang Zheng
Faculty of Mechanical and Electrical Engineering, China University of Mining & Technology-Beijing, Beijing 100083, China.
School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China.
Sensors (Basel). 2025 Jul 19;25(14):4502. doi: 10.3390/s25144502.
The urgent need for complex terrain adaptability in industrial automation and disaster relief has highlighted the great potential of octopedal wheel-legged robots. However, their design complexity and motion control challenges must be addressed. In this study, an innovative design approach is employed to construct a highly adaptive robot architecture capable of intelligently adjusting the wheel-leg configuration to cope with changing environments. An advanced kinematic analysis and simulation techniques are combined with inverse kinematic algorithms and dynamic planning to achieve a typical 'Step-Wise Octopedal Dynamic Coordination Gait' and different gait planning and optimization. The effectiveness of the design and control strategy is verified through the construction of an experimental platform and field tests, significantly improving the robot's adaptability and mobility in complex terrain. Additionally, an optional integrated quadrotor module with a compact folding mechanism is incorporated, enabling the robot to overcome otherwise impassable obstacles via short-distance flight when ground locomotion is impaired. This achievement not only enriches the theory and methodology of the multi-legged robot design but also establishes a solid foundation for its widespread application in disaster rescue, exploration, and industrial automation.
工业自动化和救灾中对复杂地形适应性的迫切需求凸显了八足轮腿机器人的巨大潜力。然而，必须解决它们的设计复杂性和运动控制挑战。在本研究中，采用了一种创新的设计方法来构建一种高度自适应的机器人架构，该架构能够智能地调整轮腿配置以应对不断变化的环境。先进的运动学分析和仿真技术与逆运动学算法和动态规划相结合，以实现典型的“逐步八足动态协调步态”以及不同的步态规划和优化。通过构建实验平台和现场测试验证了设计和控制策略的有效性，显著提高了机器人在复杂地形中的适应性和机动性。此外，还集成了一个带有紧凑折叠机构的可选四旋翼模块，使机器人在地面移动受损时能够通过短距离飞行克服原本无法逾越的障碍。这一成果不仅丰富了多腿机器人设计的理论和方法，也为其在灾难救援、勘探和工业自动化中的广泛应用奠定了坚实基础。
