REVIEW ARTICLE


Kinematic Analysis and Leveling Control Method for a Novel Wheel- Legged Robot



Sun Zhibo, Liu Jinhao*, Yu Chunzhan, Kan Jiangming
School of technology, Beijing Forestry University Qinghua East Road, Beijing, Postcard: 100083, China.


© 2015 Zhibo et al

open-access license: This is an open access article distributed under the terms of the Creative Commons Attribution 4.0 International Public License (CC-BY 4.0), a copy of which is available at: (https://creativecommons.org/licenses/by/4.0/legalcode). This license permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

* Address correspondence to this author at the School of technology, Beijing Forestry University Qinghua East Road, Beijing, Postcard: 100083, China; Tel: +8613552276090; E-mail: liujinhao@vip.163.com


Abstract

The paper introduces a novel auto-leveling system applied to the obstacle-surmounting robot with six wheellegs. The leveling model of the robot with six wheel legs and one articulated steering is analyzed. Besides, the kinematic model of the robot is presented. In order to optimize the leveling algorithm, a special PID control strategy with the leveling matrix is applied to the leveling system. The experiment shows that the new leveling system can improve the efficiency and the stability of the leveling performance: the leveling time is reduced by 3.5 seconds and the obvious tilt fluctuations are decreased by 5 times.

Keywords: Efficiency, kinematic equations, leveling system, wheel-legged robot.