Leg-wheel hybrid gait of a leg-wheel mobile robot on a flat plane

摘要

This paper discusses about Phase Control Gait (PCG) of a Leg-Wheel Mobile Robot (LWMR). With PCG, positions of support legs are observed and the timing of returning is controlled in order to disperse phases of legs, and it allows LWMR to move (including turning and pure rotation) smoothly without deadlock situation of legs. It also satisfies constraints with wheels.