Research on the steering of multi-legged wheeled robots

A simulation analysis was conducted on the steering of the multi-legged wheeled robot. The feasibility of the Ackermann steering principal usage in the multi-legged wheeled robot was analyzed in the paper. Through the co-simulation of ADAMS and MATLAB, the Ackermann steering principle used in the multi-legged wheeled robot was found out and improved. Based on the simulation results, experimental verification was conducted, and the results indicated that the Ackermann steering principle was suitable for multi-legged wheeled robots, but there were also many shortcomings to overcome in order to practical application.