Bounding with Active Wheels and Liftoff Angle Velocity Adjustment

The bounding gait for the Platform for Ambulating Wheels (PAW), a new and unique hybrid wheeled—leg system is presented. Two hypotheses are tested and discussed: first, that the robot’s forward speed can be increased by increasing the leg liftoff angles and, second, that the addition of distally mounted actuated wheels can be used in running gaits such as the bound. Both hypotheses were tested experimentally and found to be valid.