Posture Adaptive Control of Multi-Wheel-Legged Robot in Rough Terrain

In order to improve the robot's terrain adaptive capabilities in complex environments, a six-track platform with multiple movement modes of wheeled, tracked and wheel-legged has been developed. The problem of hybrid control of six-track platform moving in wheel-leg mode is investigated, which contributes to the application of military vehicles in ground detection reconnaissance and mobile transport. Firstly, we introduce the structural components and kinematic parameters of the platform, and the differential kinematic model of wheel-legged robot is developed, which separates the active joints from the passive joints in order to exclude the interference of the passive joints in the motion control. Then, a proportional control strategy that decouples the trajectory control from the posture control is adopted. Finally, the simulation experiment and physical prototype experiment in various terrains were executed, and the results verified the accuracy and effectiveness of the posture adaptive control algorithm.