Hybrid Locomotion of Leg-Wheel ASTERISK

Leg-wheel hybrid locomotion on rough terrain we propose for a hexapod robot is realized by continuous transition between wheeled and legged locomotion based on sensor feedback. In basic positioning on a flat surface, the robot is supported by three legs andmoves using its wheels. Upon sensing an obstacle, the robot's support and swing legs change to a tripod gait with an oval orbit to cross over the obstacle. The maximum obstacle height depends on the robot's height and the positioning of the foreleg. We analyzed optimal positioning implemented in the hybrid robot ASTERISK H, as confirmed by experimental results.