Autonomous Locomotion Mode Transition in Quadruped Track-Legged Robots: A Simulation-Based Analysis for Step Negotiation

TL;DR

This paper describes elsarticle.cls, a LaTeX document class tailored for Elsevier journal submissions. It presents the design goal of minimizing package conflicts by building on article.cls, while offering versatile preprint and final-format options and strong compatibility with natbib and hyperref. The work outlines key differences from the older elsart.cls and provides practical installation guidance via CTAN and Elsevier resources. The resulting class simplifies producing compliant, publication-ready manuscripts and enhances interoperability with common LaTeX packages. Overall, it serves as a comprehensive, deployable tool for authors preparing Elsevier submissions.

Abstract

Hybrid track/wheel-legged robots combine the advantages of wheel-based and leg-based locomotion, granting adaptability across varied terrains through efficient transitions between rolling and walking modes. However, automating these transitions remains a significant challenge. In this paper, we introduce a method designed for autonomous mode transition in a quadruped hybrid robot with a track/wheel-legged configuration, especially during step negotiation. Our approach hinges on a decision-making mechanism that evaluates the energy efficiency of both locomotion modes using a proposed energy-based criterion. To guarantee a smooth negotiation of steps, we incorporate two climbing gaits designated for the assessment of energy usage in walking locomotion. Simulation results validate the method's effectiveness, showing successful autonomous transitions across steps of diverse heights. Our suggested approach has universal applicability and can be modified to suit other hybrid robots of similar mechanical configuration, provided their locomotion energy performance is studied beforehand.