Design and Experiment of Hydraulic Driven Deformable Wheeled Biped Robot

Wheeled biped robots' intrinsic instability frequently limits their mobility and operational performance, reducing their capacity to adapt to different terrains and manipulate with stability. This research suggests a hydraulic-driven wheeled biped robot (WBR) strategy that can accomplish flexible transitions between wheeled and footed states in order to address this shortcoming. One of its striking characteristics is a servo valve-controlled transformable wheel that uses variable displacement control of six hydraulic cylinders to change the wheel's shape from circular to triangular. Consequently, mode switching between wheels and feet is accomplished by the WBR robot. Furthermore, based on cylinder-valve-skeleton integration design and 3D printing technology, the WBR robot also features hydraulic-driven humanoid legs and dual 4-DOF humanoid arms, achieving highly integrated and lightweight development. Lastly, a wheel-foot switching control approach based on the transformable wheel mechanism is proposed in this study. Wheel movement and wheel-foot switching studies were used to confirm the hydraulic-driven wheeled biped robot system's dependability and efficiency.