Study on the mobile robot reconfiguration control methods

The control strategies of reconfiguration and obstacles negotiation are the intensive topic in the field of leg-wheel hybrid robot. Based on the analysis of structure characters of leg-wheel hybrid robot and the disadvantage of early control method, this paper proposes a new reconfiguration control method in rough terrain and an auto-control method to get over channels, ridges etc. These control strategies are experimented in a six-leg-wheel hybrid robot which is designed by Shenyang Institute of Automation, and the results show that these control strategies can be effective used in rough terrain.