无人作战、抢险救灾、资源勘探和残障服务等特定领域对机器人的运动性能提出了极高要求，这为具有轮足复合运动功能的特种机器人提供了很好的发展契机。本项目创新性设计了基于Stewart并联机构的轮足式机器人，研究其运动驱动与稳定控制方法,研究内容包括Stewart型单足运动控制、Stewart型足式稳定行走和轮足复合协同控制三部分。Stewart型轮足式机器人通过Stewart并联平台解决了串联式足关节的不足,充分融合足式与轮式运动以及并联机构的运动特点，具有负载能力大、控制方式灵活和地形适应性强的综合优势。本项目的研究将解决Stewart型轮足式机器人的稳定运动控制问题，促进轮足式机器人设计理论与控制方法的发展，为高性能移动机器人的发展提供新思路、新理论、新方法和新技术，进一步丰富移动机器人学的内涵；同时推动轮足式机器人实用化和工程化进程，有望在军事和民用领域产生较大的实际应用价值。

Unmanned combat, disaster relief, resource exploration, disability service and other specific areas require extremely high-level of movement performances of robot, which provides excellent developing opportunities for wheel-legged robot with advantages of both wheel and leg movement. The project innovatively designs wheel-legged robot based on Stewart parallel mechanism and researches its motion driving and stability control method. The research contexts contain such three aspects as locomotion control of single leg based on Stewart, stable walking of legged situation based on Stewart and coordinated locomotion control under circumstance of wheel-legged composite pattern. Stewart type wheel-legged robot overcomes lack of tandem leg joints through Stewart parallel mechanism and sufficiently combines kinematical characteristics of leg, wheel and parallel mechanism, which has benefits of high speed, high load capacity, flexible control and strong adaptability to terrain. The research of project will overcome stable locomotion controlling problems of wheel-legged robot based on Stewart and promote the development of design theory and control method of wheel-legged robot, as well as provide innovative thoughts, innovative theories, innovative methods and innovative technologies, which are in order to further enrich connotation of mobile robotics. At the same time, it will accelerate practical and engineering processes of wheel-legged robot and is expected to create greater practical value in military and civilian fields.