Autonomous Locomotion Mode Transition in Quadruped Track-Legged Robots: A Simulation-Based Analysis for Step Negotiation
This work addresses a specific problem for hybrid robot designers by enabling autonomous mode transitions, though it is incremental as it builds on existing hybrid locomotion concepts.
The paper tackled the challenge of automating locomotion mode transitions in quadruped track-legged robots during step negotiation by introducing a decision-making mechanism based on energy efficiency, with simulation results showing successful autonomous transitions across steps of varying heights.
Hybrid track/wheel-legged robots combine the advantages of wheel-based and leg-based locomotion, granting adaptability across varied terrains through efficient transitions between rolling and walking modes. However, automating these transitions remains a significant challenge. In this paper, we introduce a method designed for autonomous mode transition in a quadruped hybrid robot with a track/wheel-legged configuration, especially during step negotiation. Our approach hinges on a decision-making mechanism that evaluates the energy efficiency of both locomotion modes using a proposed energy-based criterion. To guarantee a smooth negotiation of steps, we incorporate two climbing gaits designated for the assessment of energy usage in walking locomotion. Simulation results validate the method's effectiveness, showing successful autonomous transitions across steps of diverse heights. Our suggested approach has universal applicability and can be modified to suit other hybrid robots of similar mechanical configuration, provided their locomotion energy performance is studied beforehand.