Kinematic analysis and control of omnidirectional hexapod robot with a steering-wheel

An omnidirectional walking mechanism which synthesizes legged robot and steering-wheel was proposed, the specific motion features and steering performance were introduced. To achieve a good result of motion control, equivalent manipulator model of the steering mechanism was built, and the dynamics were developed by means of Lagrangian dynamic approach. The motion planning and experiments on the prototype validate that the omnidirectional robot with a steering wheel can be manipulated simply, flexibly and accurately.