Design of closed-chain wheeled-legged composite eight legged robot

In order to further improve the maneuverability of the legged robot, a closed-chain eight-legged robot with wheeled and legged modes was proposed. Inspired by the multimode locomotion of the Cebrennus rechenbergi spider, the wheeled-legged mode switching is realized through frame deformation. In legged mode, the robot has high obstacle-surmounting performance. In wheeled mode, the robot can take advantage of high movement speed In order to improve the walking stability in legged mode, on the basis of kinematic analysis, the optimal design of the foot trajectory is carried out. In order to realize the switching capability between the wheeled-legged modes, a design analysis of the frame was carried out.