Development of a Wheel-Paddle Integrated Quadruped Robot for Rough Terrain and its Verification on Hybrid Mode

@article{Shen2018DevelopmentOA,
  title={Development of a Wheel-Paddle Integrated Quadruped Robot for Rough Terrain and its Verification on Hybrid Mode},
  author={Yayi Shen and Guoteng Zhang and Yang Tian and Shugen Ma},
  journal={IEEE Robotics and Automation Letters},
  year={2018},
  volume={3},
  pages={4062-4067}
}
To enhance the motion performance of all-terrain robots, an eccentric paddle mechanism (ePaddle) based on planet gear mechanism was designed. This letter is on the design, control scheme, and implementation of a wheel-paddle integrated quadruped robot based on the ePaddle mechanism. To ensure the reliability and ruggedness in harsh environment, protection measures were added to both electrical system and crucial mechanical parts. To negotiate rough terrain effectively, hybrid mode was… CONTINUE READING

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