novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.26.588-593novtexmech-1854Research ArticleРОБОТЫ, МЕХАТРОНИКА И РОБОТОТЕХНИЧЕСКИЕ СИСТЕМЫROBOT, MECHATRONICS AND ROBOTIC SYSTEMSРазработка четвероногого робота с колесами на ногахDevelopment of a Leg-Wheel Quadruped RobotСулайманШ.SulaimanS.

PhD, мл. науч. сотр.,

г. Казань.

PhD, Research Associate, 

Kazan, 420008.

ssajmech@gmail.comПиллайА.PillaiA.

аспирант,

Кожикоде, Индия.

PhD Student, 

Calicut, 673601, India.

anooppillai1989@gmail.comИмамовН.ImamovN.

студент,

г. Казань.

Student, 

Kazan, 420008.

nfimamov@it.kfu.ruМагидЕ.MagidE.

Евгений Магид, PhD, зав. каф.,

г. Казань.

Magid Evgeni, PhD, Head of Department, 

Kazan, 420008.

magid@it.kfu.ruКазанский (Приволжский) федеральный университетРоссияKazan Federal UniversityRussian FederationНациональный технологический институтИндияNational Institute of TechnologyIndia2025081120252611588593Copyright © Commercial Publisher «New Technologies», 20252025Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/1854

Значимость четвероногих роботов заключается в их уникальной конструкции и функциональности, которые позволяют им перемещаться по различным ландшафтам с незаурядной ловкостью и устойчивостью. В отличие от популярных колесных роботов четвероногие роботы имитируют передвижение четвероногих животных, что позволяет им преодолевать неровные поверхности, препятствия и сохранять равновесие в сложных условиях. В статье представлена разработка нового гибридного четвероногого робота с колесами на ногах. Своеобразная конструкция робота позволяет ему функционировать по аналогии с двуногим роботом, выполняя стационарные задачи, не требующие изменения его местоположения в пространстве; в то же время колеса на концах ног позволяют роботу быстро передвигаться по ровной жесткой подстилающей поверхности. Двойная функциональность повышает универсальность робота и расширяет спектр задач, которые он может выполнять, что делает его пригодным для различных применений в исследовательских и практических приложениях. Представлены процедуры проектирования, моделирование и статический структурный анализ робота.

A significance of quadruped robots lies in their unique design and functionality, which allow them navigating a variety of terrains with remarkable agility and stability. Unlike popular wheeled robots, quadrupeds mimic locomotion of four-legged animals, enabling to traverse uneven surfaces, climb obstacles, and maintain balance in challenging environments. This paper introduces a development of a new leg-wheel hybrid quadruped robot. А peculiar design of the quadruped robot allows the robot to function as a bipedal robot while performing stationary tasks that do not require to change its location in space; at the same time, wheels at legs’ endpoints allow fast locomotion on a flat rigid terrain. The dual functionality enhances its versatility and broadens a range of tasks it can perform, making it suitable for various applications in research and practical applications. Design procedures, modelling methodologies, and static structural analyses performed to finalize a structure of the robot are demonstrated in the paper.

робототехникамобильный роботчетвероногий роботпроектированиестатический структурный анализroboticsmobile robotquadruped robotdesignstatic structural analysisРабота выполнена за счет средств Программы стратегического академического лидерства Казанского (Приволжского) федерального университета ("Приоритет—2030").This paper has been supported by the Kazan Federal University Strategic Academic Leadership Program ("PRIORITY-2030").ReferencesMagid E., Sagitov А. Towards robot fall detection and management for Russian humanoid AR-601, Smart Innovation, Systems and Technologies, 2017, vol. 74, pp. 200—209.Magid E., Sagitov А. Towards robot fall detection and management for Russian humanoid AR-601, Smart Innovation, Systems and Technologies, 2017, vol. 74, pp. 200—209.Fan Y., Pei Z., Wang C., Li M., Tang Z., Liu Q. А review of quadruped robots: Structure, control, and autonomous motion. Advanced Intelligent Systems, 2024, vol. 6, no. 6, 2300783.Fan Y., Pei Z., Wang C., Li M., Tang Z., Liu Q. А review of quadruped robots: Structure, control, and autonomous motion. Advanced Intelligent Systems, 2024, vol. 6, no. 6, 2300783.Li S., Pang Y., Bai P., Li J., Liu Z., Hu S. Learning locomotion for quadruped robots via distributional ensemble actorcritic, IEEE Robotics and Automation Letters, 2024, vol. 9, no. 2, pp. 1811—1818.Li S., Pang Y., Bai P., Li J., Liu Z., Hu S. Learning locomotion for quadruped robots via distributional ensemble actorcritic, IEEE Robotics and Automation Letters, 2024, vol. 9, no. 2, pp. 1811—1818.Elnoor M., Weerakoon K., Sathyamoorthy A. J., Guan T., Rajagopal V., Manocha D. AMCO: Adaptive multimodal coupling of vision and proprioception for quadruped robot navigation in outdoor environments, arXiv preprint arXiv:2403.13235.Elnoor M., Weerakoon K., Sathyamoorthy A. J., Guan T., Rajagopal V., Manocha D. AMCO: Adaptive multimodal coupling of vision and proprioception for quadruped robot navigation in outdoor environments, arXiv preprint arXiv:2403.13235.Song Z., Zhu J., Xu J. Gaits generation of quadruped locomotion for the CPG controller by the delay-coupled VDP oscillators, Nonlinear Dynamics, 2023, vol. 111, no. 19, pp. 18461—18479.Song Z., Zhu J., Xu J. Gaits generation of quadruped locomotion for the CPG controller by the delay-coupled VDP oscillators, Nonlinear Dynamics, 2023, vol. 111, no. 19, pp. 18461—18479.Yeldan A., Arora A., Soh G. S. QuadRunner: А transformable quasi-wheel quadruped, 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 4694—4700.Yeldan A., Arora A., Soh G. S. QuadRunner: А transformable quasi-wheel quadruped, 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 4694—4700.Xue Y., Yuan X., Wang Y., Yang Y., Lu S., Zhang В. Lywal: a leg-wheel transformable quadruped robot with picking up and transport functions, 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 2935—2941.Xue Y., Yuan X., Wang Y., Yang Y., Lu S., Zhang В. Lywal: a leg-wheel transformable quadruped robot with picking up and transport functions, 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 2935—2941.Mertyüz İ., Tanyıldızı A. K., Taşar B., Tatar A. B., Yakut O. FUHAR: А transformable wheel-legged hybrid mobile robot, Robotics and Autonomous Systems, 2020, vol. 133, p. 103627.Mertyüz İ., Tanyıldızı A. K., Taşar B., Tatar A. B., Yakut O. FUHAR: А transformable wheel-legged hybrid mobile robot, Robotics and Autonomous Systems, 2020, vol. 133, p. 103627.Quyen T. T., Trieu N. M., Thinh N. T. Kinematic Analysis of Six-Legged Robot, International Journal of Mechanical Engineering and Robotics Research, 2024, vol. 13, no. 1, pp. 99—104.Quyen T. T., Trieu N. M., Thinh N. T. Kinematic Analysis of Six-Legged Robot, International Journal of Mechanical Engineering and Robotics Research, 2024, vol. 13, no. 1, pp. 99—104.Shi Y., Zhang M., Li M., Zhang X. Design and analysis of a wheel-leg hybrid robot with passive transformable wheels, Symmetry, 2023, vol. 15, no. 4, p. 800.Shi Y., Zhang M., Li M., Zhang X. Design and analysis of a wheel-leg hybrid robot with passive transformable wheels, Symmetry, 2023, vol. 15, no. 4, p. 800.Kappagantula S. Design and development of a quadruped robot for precision agriculture applications, Precision Agriculture for Sustainability, 2024, pp. 195—220.Kappagantula S. Design and development of a quadruped robot for precision agriculture applications, Precision Agriculture for Sustainability, 2024, pp. 195—220.Raibert M., Blankespoor K., Nelson G., Playter R. BigDog, the rough-terrain quadruped robot, IFAC Proceedings Volumes, 2008, vol. 41, pp. 10822—10825.Raibert M., Blankespoor K., Nelson G., Playter R. BigDog, the rough-terrain quadruped robot, IFAC Proceedings Volumes, 2008, vol. 41, pp. 10822—10825.Qi J., Gao H., Su H., Han L., Su B., Huo M., Yu H., Deng Z. Reinforcement learning-based stable jump control method for asteroid-exploration quadruped robots, Aerospace Science and Technology, 2023, vol. 142, p. 108689.Qi J., Gao H., Su H., Han L., Su B., Huo M., Yu H., Deng Z. Reinforcement learning-based stable jump control method for asteroid-exploration quadruped robots, Aerospace Science and Technology, 2023, vol. 142, p. 108689.Wang X., Liu J., Zhang T., Zhang J. Applied research of agricultural quadruped robots, 2024 IEEE 13th International Conference on Communication Systems and Network Technologies (CSNT), 2024, pp. 954—957.Wang X., Liu J., Zhang T., Zhang J. Applied research of agricultural quadruped robots, 2024 IEEE 13th International Conference on Communication Systems and Network Technologies (CSNT), 2024, pp. 954—957.Scholz C., Moeller K., Ruckelshausen A., Hinck S., Gottinger M. Automatic soil penetrometer measurements and GIS-based documentation with the autonomous field robot platform BoniRob, 12th International Conference of Precision Agriculture, 2014.Scholz C., Moeller K., Ruckelshausen A., Hinck S., Gottinger M. Automatic soil penetrometer measurements and GIS-based documentation with the autonomous field robot platform BoniRob, 12th International Conference of Precision Agriculture, 2014.Lopes M. S. Quadruped manipulator for potential agricultural applications, 2023.Lopes M. S. Quadruped manipulator for potential agricultural applications, 2023.Sandeep B., Selvan P. T. Design and development of an autonomous quadruped robot, IOP Conference Series: Materials Science and Engineering, 2021, vol. 1012, p. 012016.Sandeep B., Selvan P. T. Design and development of an autonomous quadruped robot, IOP Conference Series: Materials Science and Engineering, 2021, vol. 1012, p. 012016.Arm P., Zenkl R., Barton P., Beglinger L., Dietsche A., Ferrazzini L. SpaceBok: А dynamic legged robot for space exploration, 2019 International Conference on Robotics and Automation (ICRA), 2019, pp. 6288—6294.Arm P., Zenkl R., Barton P., Beglinger L., Dietsche A., Ferrazzini L. SpaceBok: А dynamic legged robot for space exploration, 2019 International Conference on Robotics and Automation (ICRA), 2019, pp. 6288—6294.Sulaiman S., Sudheer А. P. Modelling of torso and dual arms for a humanoid robot with fixed base by using screw theory for dexterous applications, IOP Conference Series: Materials Science and Engineering, 2021, vol. 1132, no. 1, p. 012036.Sulaiman S., Sudheer А. P. Modelling of torso and dual arms for a humanoid robot with fixed base by using screw theory for dexterous applications, IOP Conference Series: Materials Science and Engineering, 2021, vol. 1132, no. 1, p. 012036.Sulaiman S., Pillai A., Eryomin A., Tsoy T., Magid E. Kinematic modelling, workspace analysis and static structural analysis of a 3 dof manipulator for an elevator automation, 2024 4th International Conference on Computer, Control and Robotics (ICCCR), 2024, pp. 300—304.Sulaiman S., Pillai A., Eryomin A., Tsoy T., Magid E. Kinematic modelling, workspace analysis and static structural analysis of a 3 dof manipulator for an elevator automation, 2024 4th International Conference on Computer, Control and Robotics (ICCCR), 2024, pp. 300—304.Sulaiman S., Sudheer A. P., Magid E. Torque control of a wheeled humanoid robot with dual redundant arms, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2024, vol. 238, no. 2, pp. 252—271.Sulaiman S., Sudheer A. P., Magid E. Torque control of a wheeled humanoid robot with dual redundant arms, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2024, vol. 238, no. 2, pp. 252—271.

The authors declare that there are no conflicts of interest present.