Research on Smooth Movement Control and Testing of a Wheeled-Legged Robot

This paper focuses on the application of wheeledlegged robots for extraterrestrial exploration. To address the stability and terrain adaptability issues during planetary surface exploration, a novel motion control strategy integrating body attitude control and support force control is proposed based on kinematic inverse solution. This strategy adjusts the body posture by dynamically regulating the length of each leg to ensure sufficient wheel-ground contact force while traversing rough terrains. The paper also conducts simulation and tests of the wheeled-legged robot in typical terrains. Results demonstrate that the proposed algorithm effectively overcomes terrain variations and enhances stability during the robot's movement.