Analysis of Inverse Kinematics for Legged Walking and Skated Driving with Hybrid Mobile Robot

Hybrid mobile robot is the system that will practically combine legged walking and skated driving in the same system. Therefore, this robot has own problems of inverse kinematics that are not considered in typical walking robots. In this paper, I fully categorized the inverse kinematics problems for hybrid mobile robot with general motion by walking and driving on an inclined plane, including switching end-effectors between foots and blades. I also solved the inverse kinematics for each case of problems. I here actively adopted the coordinate transformation derived from the inclined plane to cope with the random motion of foots and blades on the plane. I then presented several examples of the inverse kinematics problems with specific situations, and verified the validity of the analysis method from the results.