Kinematic modelling of a HWLV with legged mode

Aiming at the moving requests of the miniature mobile robot under the environment of indoors and outdoors, a miniature track-wheel-legged mobile robot with multiple locomotion modes such as wheeled, tracked and legged locomotion was designed. Kinematic modelling is described and kinematic equations are derived based on its most important mode, legged mode, which can supply a theoretic base of coupled posture control of stability and traction optimization of HWLV mobile robot, building the coupled optimization criteria, and realizing the coupled optimization with the posture control.