Differential geometry of autonomous wheel-legged robots

The purpose of this study is to obtain the differential geometric analysis of autonomous wheel-legged robots and their trajectories on the terrain.

The author uses a wheel using the osculating sphere of the curve on rough terrain. Additionally, the author expresses a triple osculating sphere wheel by taking advantage of differential geometry. Moreover, the author examined the consecutive wheel center-curves to obtain the optimum posture of a micro-hydraulic toolkit (MHT) robot.

The author examined the terrain path, which is crucial for trajectory planning in terms of the geometric perspective. The author designed the triple MHT wheel using the osculating sphere of the MHT robot trajectory by taking advantage of local differential geometric properties of this curve on the terrain. The consecutive wheel center-curves were expressed and studied based on differential geometry.

The author provides a novel approach for the optimum posture of an MHT robot using consecutive wheel-center curves and provides an original perspective to MHT robot and its trajectory by using differential geometry.