From Concept to Field Trials: Design, Analysis, and Evaluation of a Novel Quadruped Robot With Deformable Wheel–Foot Structure

IF 9.4 1区计算机科学 Q1 ROBOTICS

IEEE Transactions on Robotics Pub Date : 2025-04-18 DOI:10.1109/TRO.2025.3562449

Zhongjin Ju;Ke Wei;Yundou Xu

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引用次数: 0

Abstract

This study introduces a novel quadruped robot, the TerraAdapt, furnished with an innovative deformable wheel–foot integrated structure. This unique design grants the robot the flexibility to alternate between wheeled and footed modes of locomotion, making it efficient in traversing diverse terrains, from smooth indoor floors to challenging outdoor landscapes laden with obstacles. The study delineates an in-depth design and analysis of the deformable wheel and its integrated wheel–foot structure using screw theory. We engineer a 2 R: Rotational, P: Prismatic (RRR-RP) wheel–foot mode-switching mechanism by modifying a 2RRR spatial six-bar mechanism with an additional RP branch. This mechanism aids in seamless transitioning between different movement modes. Moreover, a 2RRR parallel structure is employed to construct the footed mode structure.To substantiate the viability and efficacy of the proposed design, we carry out extensive motion simulations and construct an experimental prototype for field testing. The field trials reveal the robot's adeptness in adapting to varied terrains, highlighting the possible advantages of incorporating the proposed deformable wheel into micro mobile robot designs.

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从概念到现场试验：具有可变形轮足结构的新型四足机器人的设计、分析和评估

本研究介绍了一种新型的四足机器人TerraAdapt，该机器人具有创新的可变形轮足集成结构。这种独特的设计使机器人能够灵活地在轮式和足式运动模式之间交替，使其能够有效地穿越各种地形，从光滑的室内地板到充满障碍的具有挑战性的室外景观。本文运用螺旋理论对可变形车轮及其整体轮足结构进行了深入的设计和分析。我们设计了一个2r：旋转，P：棱镜（RRR-RP）轮足模式切换机构，通过修改2RRR空间六杆机构，增加一个额外的RP分支。这种机制有助于在不同的运动模式之间无缝过渡。此外，采用2RRR并联结构构造足模结构。为了证实所提出的设计的可行性和有效性，我们进行了广泛的运动模拟，并构建了一个用于现场测试的实验原型。实地试验表明，该机器人能够适应各种地形，突出了将所提出的可变形车轮纳入微型移动机器人设计的可能优势。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Robotics 工程技术-机器人学

CiteScore

14.90

自引率

5.10%

发文量

259

审稿时长

6.0 months

期刊介绍： The IEEE Transactions on Robotics (T-RO) is dedicated to publishing fundamental papers covering all facets of robotics, drawing on interdisciplinary approaches from computer science, control systems, electrical engineering, mathematics, mechanical engineering, and beyond. From industrial applications to service and personal assistants, surgical operations to space, underwater, and remote exploration, robots and intelligent machines play pivotal roles across various domains, including entertainment, safety, search and rescue, military applications, agriculture, and intelligent vehicles. Special emphasis is placed on intelligent machines and systems designed for unstructured environments, where a significant portion of the environment remains unknown and beyond direct sensing or control.