Predictive Motion Control Method for Continuous Locomotion of Leg-Wheel Robot

This paper describes a gait algorithm and a velocity limitation method for a Leg-Wheel Robot. The gait algorithm enables the robot to preserve continuous locomotion even if the velocity command varies extensively. The velocity limitation method restricts the commanded velocity when it exceeds the mechanical limitation of the robot. Combined use of the velocity limitation method with the gait algorithm ensures the continuity of locomotion, and makes the gait pattern efficient with a long step length and low frequency of leg phase change. These methods can be applied to locomotion on unexplored rough terrain even if the range of roughness is unknown.