A control method of low speed wheeled locomotion for a wheel-legged mobile robot

This paper discusses problems in low speed wheeled locomotion of wheel-legged mobile robot. We show the kinematic constraints of the acceleration level for wheel-legged mobile robot performs the motion generation. Next, we describe singular configuration problems that occur in low speed wheeled locomotion. The damped least squares method is applied to solve this problem. The effectiveness of the solution is validated by three-dimensional simulations.