Modeling and Simulation of a Wheel-Leg Robot

In this paper, the aim is to investigate a wheel-leg robot that moves in different motion conditions. The growing use of this category of robots, many applications and the diversity of their structures are among the reasons for addressing this issue. The Wheel-leg robot is an integrated system of wheels connected to movable legs, which clearly increases the robot’s movement space. In order to move at high speed along with the ability to move on different surfaces in addition to changing the height of the base, a wheel-leg platform is used. Therefore, in this research, the kinematic and dynamic modeling of the Wheel-leg robot is discussed. Simulation of the robot’s movement has been done in MATLAB and Webots software and compared with each other.