Design and study of a forearm-type wheel-legged obstacle-crossing robot

Abstract Traditional legged robots suffer from slow movement speed, low energy utilization, complex control and poor reliability, while wheeled robots are deficient in obstacle crossing and environmental adaptability. To address such problems, the project suggests a forearm-type obstacle-crossing robot based on rear-wheel drive. This solution realizes the change from single-point contact of bipedal robots to continuous single-point contact, which improves the stability and moving speed of the system. Meanwhile, the forearm structure reduces the constraints on the moving environment, which gives it excellent obstacle-crossing performance; the simple mechanical structure improves reliability and flexibility.