Work

Cooperative skating motion control for a quad-wheel-legged robot

Year: 2025

Type: article

Abstract: This paper presents a novel cooperative skating motion control strategy for a quad-wheel-legged robot capable of dynamic leg configuration switching. The robot combines the advantages of legged and wheeled locomotion by using actively actuated legs with onboard wheels, enabling it to operate in multiple geometric configurations—namely, elbow-type, knee-type, inward- and outward-pointing postures. The proposed control framework integrates virtual model control for legged stability with Ackermann-based steering for wheeled maneuverability, enabling hybrid motion that supports continuous and dynamically stable transitions. A key contribution of this work is the development of a skating gait in which the forelegs maintain rolling contact to provide support and steering, while the hind legs alternate between push and swing phases to generate propulsion. To ensure robustness and smoothness, trajectory planning is performed using seventh-order Bézier curves, and ZMP-based stability criteria are enforced during each gait cycle. Furthermore, a configuration-switching controller allows on-line morphing between leg geometries, exploiting rolling contact to avoid foot lifting and preserve balance. Simulation results demonstrate the effectiveness of the proposed approach in executing hybrid skating motions, adapting to different terrain conditions, and maintaining posture stability throughout transitions. Comparative analysis with related works highlights improved versatility, support continuity, and locomotion robustness. This research advances the capabilities of wheel-legged robots in structured environments and lays the foundation for future development in real-world deployment scenarios.

Source: Results in Engineering

DOI: 10.1016/j.rineng.2025.106792

Authors: Guangrong Chen, Qingyu Meng, Yuxiang Lin

Institutions: Beijing Jiaotong University, Central South University

Language: English

Topic: Robotic Locomotion and Control

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $1,940

Funders: Natural Science Foundation of Beijing Municipality, Beijing Jiaotong University, National Key Research and Development Program of China, Fundamental Research Funds for the Central Universities