Design and Experiments of a Novel Quadruped Robot with Wheel-Leg Structure

Wheeled mobile robots are widely used in various scenarios, but their mobility performance is constrained by various factors such as terrain. A new type of quadruped robot with a wheel leg structure is proposed to address this issue, following the design criteria of high stiffness, lightweight, high stability, low control complexity, and low cost. Firstly, the overall mechanical structure design was analyzed, and a detailed introduction was given to the unique leg load-bearing structure; Secondly, the workspace of the robot was analyzed, and the control strategy and hardware system of the robot were introduced in detail; Finally, the feasibility of the robot design was verified through experiments. The experimental results demonstrate that the robot exhibits excellent performance in smoothly traversing single-side slopes and possesses significant potential in overcoming structured obstacles.