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TeCVP: A Time-Efficient Control Method for a Hexapod Wheel-Legged Robot Based on Velocity Planning.

Junkai Sun1,2, Zezhou Sun2, Jianfei Li2

  • 1School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, China.

Sensors (Basel, Switzerland)
|April 28, 2023
PubMed
Summary

A new time-efficient control method (TeCVP) simplifies robot control for Mars exploration. This velocity planning approach reduces complexity and operation time, enabling stable locomotion and transitions for wheel-legged robots.

Keywords:
control methodtime efficientvelocity planningwheel-legged robot

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Area of Science:

  • Robotics
  • Planetary Exploration Engineering

Background:

  • Current control methods for wheel-legged robots on Mars are overly complex.
  • Future Mars missions require efficient and adaptable robotic locomotion.

Purpose of the Study:

  • To propose a time-efficient control method based on velocity planning for hexapod wheel-legged robots.
  • To reduce the computational complexity and enhance the efficiency of robot control systems.

Main Methods:

  • Developed time-efficient control based on velocity planning (TeCVP).
  • Implemented velocity transformation from torso to foot/wheel end.
  • Utilized impedance control for joint torques and virtual spring/damper for swing phase.
  • Planned leg sequences for switching between wheeled and legged configurations.

Main Results:

  • Velocity planning control exhibits lower time complexity and fewer computations than virtual model control.
  • Simulations confirmed stable periodic gait, wheel-leg switching, and wheeled motion.
  • TeCVP demonstrated a 33.89% reduction in operation time compared to virtual model control.

Conclusions:

  • TeCVP offers a more efficient and less complex control solution for wheel-legged robots.
  • The proposed method shows significant promise for enhancing robotic capabilities in planetary exploration missions.