Development, Stability Locomotion Analysis and Experiments of Wheeled-Locomotion Mechanism for a Humanoid and Gorilla Robot

In order to improve further the maximal mobility of a mobile robot with multiple legged-locomotion modes, we present the new concept of humanoid and gorilla robot with multiple models including wheeled-locomotion and legged-locomotion. In this paper, a wheeled-driving mechanism, which suits the legged-type locomotion robot, is proposed and developed. It can realize the transition between legged-locomotion mode and wheeled-locomotion mode, and it has wheeled-locomotion function. In order to realise the steady wheeled moving on slope, dynamics and ZMP compensation control theory base on inverse pendulum theory are researched, and experiments including the wheeled moving and biped walking on the flat were finished successfully.