Design and Obstacle Crossing Research of Wheeled-Leg Hybrid Unmanned Robot.

This article proposes a obstacle-crossing control strategy for a quadruped wheeled-leg unmanned robot, achieving the ability to climb vertical walls while considering ground contact. Initially, this control strategy considers the motion states of the legs in the wheeled-leg robot. By detecting whether the legs are lifted or in contact with the ground, the controller parameters of the wheeled-leg robot are adjusted, allowing for torque control of each joint actuator. Subsequently, the robot's motion is controlled by planning leg end trajectories and body velocity to complete the obstacle-crossing process on vertical walls. Finally, the proposed motion control method and foot trajectory strategy are implemented through Simulink. Controller parameters are adjusted within Simulink, and the simulation is conducted to achieve obstacle-crossing on vertical walls for the wheeled-leg robot. This control method and trajectory planning enable the wheeled-leg robot to overcome vertical wall obstacles, significantly enhancing its passability and environmental adaptability.