Posture Control of a Reconfigurable Mobile Vehicle with Legged Mode

Aiming at the moving requests of the miniature mobile vehicle under the environment of indoors and outdoors, A small track-wheel-legged mobile vehicle was developed in this paper. Many desired locomotion modes such as wheeled, tracked and legged locomotion can be realized by utilizing its independently actuated arms up and down. In order to have good adaptability, high maneuverability of obstacle negotiation and high locomotion security, the kinematic modelling was described, kinematic equations were derived, and optimization control was realized based on the analysis of the stability characteristics with wheel-legged locomotion, which can realize the posture control of mobile vehicle, so that the vehicle has the abilities of maintaining relatively stability of the body over uneven ground,. and these abilities are of great significance to stable operation and vision control of the vehicle.