Multi-degree-of-freedom wheeled-legged hybrid robot

I had always wanted to build more complex robots. In my junior year I joined the university’s BIRL team, worked on the mechanical structure and circuit design of a wheeled-legged hybrid robot, and completed the kinematic modeling and motion-control code for the project almost entirely on my own.

• Ran Matlab simulations from the robot’s kinematics, and solved forward and inverse kinematics with MoveIt in ROS.
• Implemented proportional-velocity control for the robot’s three-degree-of-freedom motors on STM32 over CAN bus.
• Implemented pose transformation for the robot across different planes of motion.

Design and implementation of proportional-velocity (PV) control for the three-degree-of-freedom motors:

Walking tests on the second-generation robot:

Testing in a real application scenario: