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Updated: Aug 24, 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

A Novel Wheel-Legged Hexapod Robot.

Yong Ni¹, Li Li¹, Jiahui Qiu¹

¹Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, China.

Biomimetics (Basel, Switzerland)

|October 24, 2022

Summary

This study introduces a novel wheel-legged hexapod robot. This robot combines wheeled and legged locomotion for superior terrain adaptability and obstacle negotiation capabilities.

Keywords:

biomimetics motion gait motor control trajectory planning wheel-legged robot

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Area of Science:

Robotics
Mechanical Engineering
Biomechanics

Background:

Traditional mobile robots face limitations in terrain adaptability (wheeled) or speed (legged).
A hybrid approach is needed to combine the strengths of both wheeled and legged robots.
Hexapod robots offer a stable platform, but often lack speed and versatile locomotion.

Purpose of the Study:

To design a multi-functional wheel-legged hexapod robot.
To enhance climbing capacity and terrain adaptability.
To overcome the limitations of traditional mobile robots.

Main Methods:

Designed a hexapod robot with integrated wheel-legs, each directly driven by a motor.
Implemented a diagonal tripod gait for locomotion.
Optimized body shape (wider middle) for stability, inspired by insect movement.
Conducted simulations and experimental validation.

Main Results:

The wheel-legged hexapod robot demonstrated smooth and quick movement.
Achieved excellent adaptability to diverse and rugged environmental conditions.
Successfully traversed obstacle-ridden terrain without active adaptation.
Negotiated obstacles approximately its own height, surpassing its center of gravity range.

Conclusions:

The developed wheel-legged hexapod robot effectively integrates wheeled and legged locomotion advantages.
The robot exhibits exceptional mobility and obstacle-crossing capabilities in challenging terrains.
This design offers a promising solution for versatile mobile robotics in complex environments.