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<p>This study designed and implemented a hybrid-drive robot system that combines quadruped locomotion with a two-wheeled parallel drive to enable stable operation on both rough and flat terrain. The proposed robot features a dual control structure based on Jetson Nano and OpenCR, as well as a terrain recognition algorithm utilizing ultrasonic sensors, allowing drive-mode switching depending on the driving environment. The quadruped motion is realized through three degrees of freedom per leg using twelve servo motors, and the two-wheeled drive operates through real-time PID control with two Dynamixel motors. Experiments were conducted to compare the energy efficiency of the quadruped and two-wheeled drive modes, and the average voltage drop showed that quadruped locomotion consumes more energy. Furthermore, obstacle detection tests confirmed that obstacles over 20&#xa0;mm in height were successfully recognized by the ultrasonic sensor and that the drive-mode switching process was executed correctly, verifying the reliability of the proposed system. Based on these results, this study confirmed that the robot system with hybrid locomotion can achieve both stability and efficiency across diverse terrain conditions.</p>

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Design and Verification of a Quadrupedal Robot with Multi-driving Modes

  • 期刊论文

  • 发表日期：

    2026年2月25日

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  • Jeong-Ung Ha,
  • Jong-Kyu Park

摘要

This study designed and implemented a hybrid-drive robot system that combines quadruped locomotion with a two-wheeled parallel drive to enable stable operation on both rough and flat terrain. The proposed robot features a dual control structure based on Jetson Nano and OpenCR, as well as a terrain recognition algorithm utilizing ultrasonic sensors, allowing drive-mode switching depending on the driving environment. The quadruped motion is realized through three degrees of freedom per leg using twelve servo motors, and the two-wheeled drive operates through real-time PID control with two Dynamixel motors. Experiments were conducted to compare the energy efficiency of the quadruped and two-wheeled drive modes, and the average voltage drop showed that quadruped locomotion consumes more energy. Furthermore, obstacle detection tests confirmed that obstacles over 20 mm in height were successfully recognized by the ultrasonic sensor and that the drive-mode switching process was executed correctly, verifying the reliability of the proposed system. Based on these results, this study confirmed that the robot system with hybrid locomotion can achieve both stability and efficiency across diverse terrain conditions.