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Updated: Oct 2, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

TALBOT: A Track-Leg Transformable Robot.

Wenzhi Guo^1,2, Jiandu Qiu¹, Xinrui Xu²

¹College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan 030024, China.

Sensors (Basel, Switzerland)

|February 26, 2022

Summary

This study presents TALBOT, a novel transformable robot with tracked and legged modes for all-terrain adaptation. Its advanced control and LiDAR-based mapping enable effective navigation and environment perception.

Keywords:

Fast-Slam central pattern generator (CPG)quadruped track-wheel mechanism transformable robot

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Last Updated: Oct 2, 2025

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Area of Science:

Robotics
Mechatronics
Artificial Intelligence

Background:

Robots often face limitations in adapting to diverse terrains.
All-terrain mobility requires sophisticated locomotion and environmental perception systems.

Purpose of the Study:

Introduce TALBOT, a transformable robot with unique tracked-leg design.
Evaluate TALBOT's all-terrain adaptability and environment mapping capabilities.

Main Methods:

Designed a novel tracked-leg transformable structure for mode switching.
Implemented differential speed control for tracked mode and bionic central pattern generator for legged mode.
Utilized LiDAR for sensor preprocessing and optimized SLAM algorithm for enhanced mapping.

Main Results:

TALBOT successfully switched between tracked and legged modes.
Demonstrated effective motion control in both modes, including straight movement and turning.
Achieved improved indoor environment mapping using optimized SLAM algorithms.

Conclusions:

The tracked-leg transformable structure enables superior all-terrain adaptation.
TALBOT's integrated control and perception systems provide robust navigation and mapping.
This robot design offers a promising solution for complex environmental exploration.