Dynamic Rolling Planning of a Wheel-Like Mobile Mechanism Based on Centroidal Angular Regulation

Abstract This article presents an analysis of the dynamic performance of a centrally driven wheel-like mobile mechanism, enhancing the continuous mobility of the linkage-type mobile mechanism, which is critical for improving its locomotion efficiency. To address the systematic analysis of the dynamic rolling and continuous mobility capabilities, this article first develops a kinematic model of the centroidal angular regulation strategy based on the constraints of structural characteristics and centroidal stability. The strategy clarifies the coupling relationship between the driving and posture angles. On this basis, a dynamic model is further constructed using the Lagrange method to plan the dynamic rolling locomotion. Using this model, a detailed analysis of the kinematic characteristics during the single-step locomotion is conducted. The results show that the wheel-like mobile mechanism is capable of continuous dynamic rolling through the establishment of the kinematic model of the centroidal angular regulation strategy and the dynamic rolling planning. Finally, the correctness of the theoretical model is verified through simulation and prototype experiments.