On Combined Elastic and Nonholonomic Model of a Class of Mobile Robots with Arc Wheels

Compared with multi-joint quadruped robots, RHex-like robots have the advantages of low cost and simple control. For this kind of mobile robot with adjustable and passively adapted arc wheels, we combined rolling kinematics and elasticity to establish a full-parameter kinematics model, and then through simulation analysis, the model was analyzed and reasonable simplified, then the analytic solution of the simplified variable stiffness kinematics model of the whole machine was obtained. Finally, the error between the theoretical and actual models in the movement process was quantitatively analyzed through the virtual prototype experiment. Our results show that the theoretical model can well reflect the motion behavior of the robot during the touchdown phase, and provides an analytical method for subsequent motion control.