Abstract: For the mobile robot used in extremely unstructured working environment, a design schemeof wheel-legged biomimetic robot was proposed in the paper. Six-foot and wheel mode could be changed according to the terrain condition, so the good mobility and obstacle performance were obtained during the movement. Through the mechanical structure and control system design, the wheel/leg motion mode switching and walking for the robot was realized during the movement process. After theoretical calculation for the working space and experimental testing for physical prototype walking, it was proved that the robot has a certain ability to walk and overstep.

Key words: wheel-legged, biomimetic robot, control system, workspace, tripod gait