Design and Simulation of a Self-reconfigurable Modular Wheel-legged Robot

This paper designed a self-reconfigurable modular wheel-legged robot. The four-bar wheel-leg structure endows it with two modes of motion: wheeled movement and jumping; an active docking mechanism enables it to autonomously select and dock with robot modules based on the movement environment and task requirements, achieving both excellent terrain adaptability and intelligence. A kinematic model for the four-bar wheel-leg structure and the active docking end was established. The motion modes of the robot and the feasibility of the active docking mechanism were simulated and assessed using ROS2-Gazebo, laying a foundation for future research on motion control and docking control of self-reconfigurable modular wheel-legged robots.