用普通万向轮实现四足机器人全向移动，成本降低近90%。
WaveForward: An Omnidirectional Passive Wheeled Quadruped Robot with Casters
- 每条腿装标准万向轮，被动设计降低成本。
- 通过调整轮基姿态实现方向控制，速度指令驱动转向。
- 多种推进模式可调，适合低成本移动场景。
轮足机器人兼具复杂地形的机动性和高效率，适用于长距离运输。传统驱动式轮足机器人因需特殊硬件与电气设计而成本较高。本文提出一种新型低成本被动轮足四足机器人，在每条腿上安装标准万向轮以实现全向移动。采用非对称演员-评论家结构控制器，利用被动万向轮的角度和速度等特权信息进行控制。提出基于速度指令的轮基姿态调节策略，通过主动关节改变万向轮轴线姿态，从而调节推进方向。此外，实现多种推进模式，通过万向轮扭转振荡生成推力。在绕障测试和模式切换实验中，该机器人展现出全向运动灵活性，相较纯足式运动可将单位运输成本（COT）降低最高达89.1%。
原文摘要 · Abstract (English)
Wheeled-legged robots possess both agile mobility for traversing complex terrains and high efficiency, making them suitable for long-distance transportation applications. Conventional actuated wheeled robots require specialized hardware and electrical design due to the incorporation of wheel components. We propose a novel and low-cost passive wheeled legged robot equipped with standard casters on each leg to obtain omnidirectional mobility. The control method employs an asymmetric actor-critic structure, enabling the utilization of the privileged information of the passive caster's angles and velocities. We develop a caster base posture adjustment strategy based on velocity commands, utilizing actuated joints to modify the caster base joint axis posture and thereby adjust the propulsion direction of the casters. Moreover, we implemented multiple propulsion modes to achieve varying degrees of caster twisting oscillation, converting these into propulsive force. We conducted a slalom test and mode switch experience, which shows the passive wheeled quadruped could achieve omnidirectional movement versatility, and reduce the cost of transport (COT) by up to 89.1% with respect to legged motion.
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