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ZHOU S , ZHANG W P , ZOU Y , et al. Piezoelectric-driven miniature wheeled robot based on flexible transmission mechanisms [J ] . Microsystem Technologies , 2018 , 24 : 943 - 950 . DOI: 10.1007/s00542-017-3424-7 http://doi.org/10.1007/s00542-017-3424-7 http://link.springer.com/10.1007/s00542-017-3424-7 http://link.springer.com/10.1007/s00542-017-3424-7

ZHONG Y H , WANG R X , FENG H S , et al. Analysis and research of quadruped robot’s legs: a comprehensive review [J ] . International Journal of Advanced Robotic Systems , 2019 , 16 ( 3 ): 172988141984414.

王琪 , 张秀丽 , 江磊 , 等 . 具有2DOF铰接式躯干的仿猎豹四足奔跑机器人 [J ] . 机器人 , 2022 , 44 ( 3 ): 257 - 266 . DOI: 10.13973/j.cnki.robot.210101 http://doi.org/10.13973/j.cnki.robot.210101 为了探索脊柱运动对腿运动的增强机理，设计了具有2自由度铰接式躯干的仿猎豹四足奔跑机器人。对带腾空相的跳跃（bound）步态奔跑运动的力学过程进行描述，采用阻尼型弹性负载倒立摆（D-SLIP）模型建立了四足机器人动力学模型。依据猎豹的奔跑运动模式，对四足机器人脊柱关节与腿关节的耦合运动进行了轨迹规划。提出一种改进的粒子群优化（PSO）算法，解决了机器人脊柱关节驱动机构尺寸和运动轨迹控制参数之间目标互斥的嵌套优化问题。对四足机器人跳跃奔跑运动进行动力学仿真，结果表明：脊柱与腿的协调运动可以增大奔跑步幅，使机器人产生腾空相，从而提高机器人的奔跑速度。

WANG Q , ZHANG X L , JIANG L , et al. A cheetah-mimicking quadruped running robot with 2DOF articulated trunk [J ] . Robot , 2022 , 44 ( 3 ): 257 - 266 . (in Chinese) DOI: 10.13973/j.cnki.robot.210101 http://doi.org/10.13973/j.cnki.robot.210101 In order to explore the mechanism of leg movements enhanced by spinal movements, a cheetah-mimicking quadruped running robot with 2-DOF (degree of freedom) articulated trunk is designed. The mechanical processes of the running motion in bound gait with flying phase are described. The dynamics model of the quadruped robot is established using a damped spring loaded inverted pendulum (D-SLIP) model. Referring to the running mode of cheetahs, the trajectories of the coupled motions of the spine joints and leg joints of the quadruped robot are planned. An improved PSO (particle swarm optimization) algorithm is proposed to solve the nested optimization problem with target mutual exclusion between the dimensional parameters of actuation mechanism of robot spine joint and the control parameters of motion trajectory. The dynamic simulations of the running motion of the quadruped robot in bound gait are carried out. The results show that the coordinated movements between the spine and the legs can increase the stride length of the quadruped robot and allow the robot generating flying phases, so as to improve the running speed of the robot.

郭非 , 汪首坤 , 王军政 . 轮足复合移动机器人运动规划发展现状及关键技术分析 [J ] . 控制与决策 , 2022 , 37 ( 6 ): 1433 - 1444 .

GUO F , WANG S K , WANG J Z . Development status and key technology analysis for motion planning of wheel-legged hybrid mobile robot [J ] . Control and Decision , 2022 , 37 ( 6 ): 1433 - 1444 . (in Chinese)

LU D P , DONG E B , LIU C S , et al. Design and development of a leg-wheel hybrid robot "HyTRo-I" [C ] ∥Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . Tokyo, Japan : IEEE , 2013 : 6031 - 6036 .

BJELONIC M , GRANDIA R , HARLEY O , et al. Whole-body MPC and online gait sequence generation for wheeled-legged robots [C ] ∥Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . Prague, Czech Republic : IEEE , 2021 : 8388 - 8395 .

CUI L , ZHANG J , et al. Balance control of a novel wheel-legged robot: design and experiments [C ] ∥ Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Madrid, Spain:IEEE , 2021 : 6782 - 6788 .

曲梦可 , 王洪波 , 荣誉 . 军用轮 、 腿混合四足机器人设计 [J ] . 兵工学报 , 2018 , 39 ( 4 ): 787 - 797 . DOI: 10.3969/j.issn.1000-1093.2018.04.019 http://doi.org/10.3969/j.issn.1000-1093.2018.04.019 为设计一种可以在迈步行走、有动力轮式机动、无动力轮旱冰式滑行3种运动方式之间灵活转换的轮、腿混合四足机器人，提出一种采用3-PUPS机构的超冗余、可变胞并联机械腿，其构型可以通过伺服电机的抱闸锁定实现变胞变换，从而使机械腿能根据任务需求实时改变自身构型和性能。在建立机械腿3-PUPS机构的运动学和静力学模型基础上，通过定义运动学和静力学性能评价指标，分析了机械腿尺寸参数对其各性能评价指标的影响规律，从而确定机械腿一组使机械腿运动学和静力学性能较为均衡的结构参数，并研制出机械腿的实验样机。建立轮、腿混合四足机器人整机的通用运动学模型，定义机器人整机的性能评价指标，分析机器人整机尺寸参数对其各性能评价指标的影响规律，并确定整机尺寸参数值，在此基础上完成了轮、腿混合四足机器人整机的设计方案。通过一套专用机器人标定系统对机械腿的实验样机进行位姿测量实验。研究结果表明：机械腿运动平台的实际运动沿x轴方向最大偏差为0.041 mm，沿y轴方向最大偏差为0.040 mm，沿 z轴方向最大偏差为0.040 mm；绕z轴姿态角最大偏差为0.041°，绕y轴姿态角最大偏差为0.043°，绕x轴姿态角最大偏差为0.045°；机械腿实验样机达到了通用式工业机器人的精度水平。

QU M K , WANG H B , RONG Y . Design of military wheel-leg hybrid quadruped robot [J ] . Acta Armamentarii , 2018 , 39 ( 4 ): 787 - 797 . (in Chinese)

KAMEDULA M , KASHIRI N , TSAGARAKIS N G . On the kinematics of wheeled motion control of a hybrid wheeled-legged CENTAURO robot [C ] ∥Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . 2018 : 2426 - 2433 .

田润 , 宋轶民 , 孙涛 , 等 . 一种新型轮腿式移动机器人的参数设计与实验研究 [J ] . 机器人 , 2015 , 37 ( 5 ): 538 - 545 . DOI: 10.13973/j.cnki.robot.2015.0538 http://doi.org/10.13973/j.cnki.robot.2015.0538 面向复杂未知环境探索作业对移动机器人的重大重要需求，借鉴 3 轮辐型轮腿越障能力强和弧形轮腿缓冲减振好的优势，提出一种新型轮腿式移动机器人.以攀爬楼梯为越障任务和设计目标，从静力学角度分析机器人轮腿与楼梯台阶不产生滑移的条件，得出机器人可跨越楼梯台阶的必要条件.从几何学角度规划一种机器人高效攀爬楼梯的轨迹，据此完成机器人轮腿结构的参数设计，并研究轮腿结构参数对机器人抗冲击能力和续航能力的影响规律.最后，通过软件仿真和爬楼梯实验验证上述工作的可行性和有效性.

TIAN R , SONG Y M , SUN T , et al. Parameter design and experiment of a novel wheel-legged mobile robot [J ] . Robot , 2015 , 37 ( 5 ): 538 - 545 . (in Chinese) DOI: 10.13973/j.cnki.robot.2015.0538 http://doi.org/10.13973/j.cnki.robot.2015.0538 In order to meet the requirements of exploration operations in complex and unknown environments for mobile robots, a novel wheel-legged mobile robot is proposed by utilizing the high over-obstacle capacity of three-spoke wheel-leg mechanisms and the good damping capacity of arc-shaped wheel-leg mechanisms.Taking stairs-climbing as the over-obstacle task and design objective, the non-slip condition between the robot wheel-leg and the stairs is analyzed from the perspective of statics, and then the necessary condition of the novel robot climbing the stairs is obtained.A trajectory for climbing stairs efficiently is designed from the perspective of geometry, and then the parameters of the robot wheel-leg are obtained before investigating the influence of the wheel-leg parameters on the impact resistance and endurance abilities.Finally, the software simulation and stairs-climbing experiment are carried out to verify the validity of the presented research.

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