Dynamic locomotion with a wheeled-legged quadruped robot

Abstract

In this paper, we present an overview of the work carried out in the Mechatronic Locomotion Laboratory at McGill University on a quadruped robotic platform, PAW. This robot features four springy legs with rotary actuation at the hips and driven wheels mounted at the distal ends of the legs. The robot was designed to explore hybrid modes of locomotion, where it makes use of both wheels and legs to achieve novel behaviors. As well, the robot's simple construction allows PAW to exploit the dynamics of a mass-spring system to achieve gaits such as bounding, galloping and jumping. We begin by describing the basic design of the robot and its sensing capabilities. We then discuss several modes of locomotion that have been developed on the robot over the past five years. Specifically, results are presented for inclined turning and sprawled breaking achieved with the robot, as part of exploiting the leg capability in the rolling behaviors. This is followed by the presentation of the bounding gait implemented on the robot: the basic version and the intelligent version. The most recent addition to the robot's repertoire of behaviors is a dynamic jump. We will discuss the main stages of the jumping maneuver and present the results of the jump. The paper concludes with a summary and discussion of our future goals for PAW. © 2010 Springer-Verlag Berlin Heidelberg.