This paper introduces a new wheel-legged robot and develops motion controllers based on central pattern generators (CPGs) for the robot to navigate over a range of terrains. A transformable leg-wheel design is considered and characterized in terms of key locomotion characteristics as a function of the design. Kinematic analysis is conducted based on a generalized four-bar mechanism driven by a coaxial hub arrangement. The analysis is used to inform the design of a central pattern generator to control the robot by mapping oscillator states to wheel-leg trajectories and implementing differential steering within the oscillator network. Three oscillator models are used as the basis of the CPGs, and their performance is compared over a range of inputs. The CPG-based controller is used to drive the developed robot prototype on level ground and over obstacles. Additional simulated tests are performed for uneven terrain negotiation and obstacle climbing. Results demonstrate the effectiveness of CPG control in transformable wheel-legged robots.

翻译：本文介绍了一种新型轮腿机器人，并开发了基于中枢模式发生器（CPGs）的运动控制器，使机器人能够在多种地形上导航。研究考虑了一种可变形腿轮设计，并根据关键运动特性对其进行了表征，这些特性是设计的函数。基于由同轴轮毂装置驱动的广义四杆机构进行了运动学分析。该分析用于指导中枢模式发生器的设计，通过将振荡器状态映射到轮腿轨迹，并在振荡器网络内实现差速转向，从而控制机器人。研究使用了三种振荡器模型作为CPGs的基础，并在多种输入下比较了它们的性能。基于CPG的控制器被用于驱动所开发的机器人原型在平地和障碍物上运动。此外，还进行了在不平整地形通过和攀爬障碍物的模拟测试。结果证明了CPG控制在可变形轮腿机器人中的有效性。