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

“I have always been eager to build more complex robots. During my junior year, I joined the BIRL team at my university. I participated in the structural and circuit design of a leg-wheel hybrid robot and almost independently completed the entire project, including kinematic modeling and implementing the control code for the robot’s motion.

• I conducted Matlab simulations based on the robot’s kinematics and solved forward and inverse kinematics using MoveIt in ROS.
• I implemented proportional-velocity control for the three degrees of freedom of the robot’s motors using STM32 and CAN.
• I achieved pose transformation for the robot’s motion in different planes.

Design and implementation of proportional-velocity (PV) control for a three-degree-of-freedom robot’s motors:

Testing the walking capabilities of the second-generation robot:

Real-world application scenario testing: