System design and control of the sphere-wheel-legged robot
Sign Up to like & getrecommendations! Published in 2024 at "Robotica"
DOI: 10.1017/s0263574724001401
Abstract: Abstract The two-wheeled legged robot combines the advantages of legged robot and wheeled robot and has high terrain adaptability. Spherical robots are highly resistant to interference during detection. In this paper, a new sphere-wheel-legged robot… read more here.
Keywords: motion; legged robot; sphere wheel; wheel legged ... See more keywords
Parallel structure of six wheel-legged robot trajectory tracking control with heavy payload under uncertain physical interaction
Sign Up to like & getrecommendations! Published in 2020 at "Assembly Automation"
DOI: 10.1108/aa-08-2019-0148
Abstract: This paper aims on the trajectory tracking of the developed six wheel-legged robot with heavy load conditions under uncertain physical interaction. The accuracy of trajectory tracking and stable operation with heavy load are the main… read more here.
Keywords: control; wheel legged; legged robot; six wheel ... See more keywords
Wheel-Legged SLAM: Indoor LiDAR-Inertial SLAM Integrating Kinematic Model of Wheel-Legged Robots
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2024.3521184
Abstract: SLAM is the key technique for localization and surrounding perception in indoor environments. However, the dynamic posture adjustments of wheel-legged robots cast new challenges that affect the accuracy of localization. Therefore, this letter presents the… read more here.
Keywords: slam; indoor; wheel legged; legged slam ... See more keywords
Flexible Motion Framework of the Six Wheel-legged Robot: Experimental Results
Sign Up to like & getrecommendations! Published in 2021 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2021.3100879
Abstract: In complex real-world scenarios, wheel-legged robots with maneuverability, stability and reliability have addressed growing research attention, especially in material transportation, emergency rescue, as well as the exploration of unknown environments. How to achieve stable high-level… read more here.
Keywords: motion; flexible motion; wheel legged; legged robot ... See more keywords
Probabilistic Path Planning for Wheel-Legged Rover in Dense Environment Based on Extended MDP and Configuration Topology Analysis
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2025.3546789
Abstract: Wheel-legged planetary rovers possess superb locomotion capabilities. This article combines an offline predefined motion planning library with online path planning, integrating energy consumption and probabilistic aspects of the robotic system. The primary focus is on… read more here.
Keywords: wheel legged; topology; path planning; path ... See more keywords
Method for the posture control of bionic mechanical wheel-legged vehicles in hilly and mountainous areas
Sign Up to like & getrecommendations! Published in 2024 at "International Journal of Agricultural and Biological Engineering"
DOI: 10.25165/j.ijabe.20241705.8383
Abstract: : In response to the weaknesses of traditional agricultural equipment chassis with poor environmental adaptability and inferior mobility, a novel unmanned agricultural machinery chassis has been developed that can operate stably and efficiently under various… read more here.
Keywords: wheel; control; posture; unmanned chassis ... See more keywords
Adaptive optimal output regulation for wheel-legged robot Ollie: A data-driven approach
Sign Up to like & getrecommendations! Published in 2023 at "Frontiers in Neurorobotics"
DOI: 10.3389/fnbot.2022.1102259
Abstract: The dynamics of a robot may vary during operation due to both internal and external factors, such as non-ideal motor characteristics and unmodeled loads, which would lead to control performance deterioration and even instability. In… read more here.
Keywords: output regulation; controller; wheel; adaptive optimal ... See more keywords
Research on Motion Control Method of Wheel-Legged Robot in Unstructured Terrain Based on Improved Central Pattern Generator (CPG) and Biological Reflex Mechanism
Sign Up to like & getrecommendations! Published in 2025 at "Applied Sciences"
DOI: 10.3390/app15158715
Abstract: With the development of inspection robot control technology, wheel-legged robots are increasingly used in complex underground space inspection. To address low stability during obstacle crossing in unstructured terrains, a motion control strategy integrating an improved… read more here.
Keywords: motion control; control; wheel legged; reflex mechanism ... See more keywords
A Novel Wheel-Legged Hexapod Robot
Sign Up to like & getrecommendations! Published in 2022 at "Biomimetics"
DOI: 10.3390/biomimetics7040146
Abstract: Traditional mobile robots are mainly divided into wheeled robots and legged robots. They have good performance at fast-moving speeds and crossing obstacles, and weak terrain adaptability and moving speeds, respectively. Combining the advantages of these… read more here.
Keywords: novel wheel; hexapod robot; legged hexapod; wheel ... See more keywords
Upright and Crawling Locomotion and Its Transition for a Wheel-Legged Robot
Sign Up to like & getrecommendations! Published in 2022 at "Micromachines"
DOI: 10.3390/mi13081252
Abstract: To face the challenge of adapting to complex terrains and environments, we develop a novel wheel-legged robot that can switch motion modes to adapt to different environments. The robot can perform efficient and stable upright… read more here.
Keywords: locomotion; legged robot; motion; wheel legged ... See more keywords