Roller Skating Analysis of a Novel Quadruped Robot with Extendable Body

摘要

This paper proposes a skating locomotion mode of a novel quadruped robot with extendable body and passive wheels. The kinematic model and skating principle have been analyzed according to the character of the robot's special structure. The gaits of straight skating and steering skating are discussed in detail. Lastly, we make some simulations to verify the skating principle and the kinematic analysis above.