The kinematic model, motion planning and analysis for obstacle negotiation capability of the composite six-wheeled-legged robot

This paper establishes the spatial kinematic model of the six-wheeled-legged robot by combining its spatial motion. In the process of the robot´s crossing the obstacle, the position of its centroid determines whether the robot can cross the obstacle successfully or not, so the paper establishes the spatial kinematic model and the kinematic model of the centroid, and furthermore, simplifies the model for different typical postures so as to do the motion planning^[1] and the analysis for obstacle negotiation capability of the vertical obstacle, the ditch obstacle and the slope obstacle.