Hybrid Obstacle-Surmounting Gait for Hexapod Wheel-Legged Robot in Special Terrain

The stable operation with passing obstacles is the main challenge for wheel-legged robots in irregular terrains, especially in the gully terrain. An obstacle-surmounting method of wheel-legged hybrid gait based on perception system is proposed in this paper for gully terrain. Firstly, the system composition and communication mode of the wheel-legged robot are described. Secondly, the kinematics and dynamics models are established, and on this basis, the strategy of wheel-legged compound gait crossing gully landform is designed. Finally, the co-simulation based on MATLAB and V-REP is carried out. The simulation results show that the body of robot can maintain horizontal stability in the process of crossing gully terrain, which verifies the effectiveness of the obstacle-surmounting strategy.