Robot With Combined Wheel-Stepping Mover

Abstract

The control of a robot with a wheel-stepping mover that allows movement in two modes is considered. To move on a flat surface, a single-wheel mover unit is used with steering with the help of selected stepping movers. Overcoming obstacles and performing work operations are carried out with the help of walking movers. The synthesis of robot motion control in walking mode and the method of controlling the direction of motion when driving on a single-wheel mover are presented.