Kinematics and dynamics modeling of a small mobile robot with tracked locomotion mode

In this work, we developed a new mobile robotic platform named MOBIT (Mobile Robot of BIT) that combines wheels, legs and tracks to move with different locomotion modes in unstructured environment. Utilizing its independent actuated arms up and down, many desired locomotion modes can be realized, which makes the robot good adaptability and high capability of obstacle negotiation for carrying out military and civilian missions. In this paper, introduced simply its body design and different locomotion modes, particularly, kinematics and dynamics modeling of MOBIT with tracked mode are derived. Unlike other robot operating on a flat surface, the proposed equations can supply a theoretic base of farther study for MOBIT such as coupled posture control of stability and traction optimization which can be used for autonomous motion control of robot operating in rough terrains.