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Towards Hybrid Gait Obstacle Avoidance for a Six Wheel-Legged Robot with Payload Transportation

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This paper investigates a novel hybrid gait obstacle-avoidance control strategy based on a perception system for the six wheel-legged robot (BIT-6NAZA) in uneven terrain. This robot has stronger payload transportation performance benefited from the flexibility of the 6-degree of freedom Stewart platform. It can guarantee the attitude level stability when passing through different shapes of obstacles. Firstly, the motion state matrix and gait unit of the BIT-6NAZA robot are considered. Moreover, the current local terrain is identified by the visual perception system. Then the wheel-legged hybrid gait types and parameters are selected according to the terrain detection. The gait topology matrix and gait planning matrix are generated for each leg controller to realize the wheel-legged hybrid obstacle-avoidance. In addition, a feedback controller combined with the posture sensor and foot-end force sensor is utilized to maintain the robot body. Finally, some demonstrations using the developed BIT-6NAZA robot are carried out. The performance illustrates the effectiveness and feasibility of the hybrid gait obstacle-avoidance control strategy.

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This work was supported by the National Key Research and Development Program of China under Grant 2019YFC1511401 and the National Natural Science Foundation of China under Grant 61103157.

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Authors and Affiliations



Zhihua Chen: Writing, Editing, simulation, experiment; Jiehao Li: Writing, Editing, experiment; Junzheng Wang: Reviewing and Supervision; Shoukun Wang: Reviewing, Supervision, Analyses and Finalizing; Jiangbo Zhao: Reviewing and Supervision; Jing Li: Reviewing and Supervision; All authors read and approved the final manuscript.

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Correspondence to Shoukun Wang.

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The data that support the findings of this study are available from the corresponding author Prof. Shoukun Wang upon reasonable request.

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Zhihua Chen and Jiehao Li contributed equally to this work.

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Chen, Z., Li, J., Wang, J. et al. Towards Hybrid Gait Obstacle Avoidance for a Six Wheel-Legged Robot with Payload Transportation. J Intell Robot Syst 102, 60 (2021).

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