Titan

IntroductionIn this project, the crawler-hybrid robot features two locomotion modes: quadruped mode and tracked mode, enabling it to adapt its configuration for varying environments and terrains. The quadruped configuration offers 8 total degrees of freedom (DOF), with 2 DOF per leg. The foot-end design is seamlessly incorporated into the tracked assembly, where each track unit is powered by a dedicated DC motor.The robot's central control board employs an ESP32-WROVER-E MCU (with the V2.0 variant using ESP32-PICO-D4), supporting integrated control of bus servos, PWM servos, and DC motors. It also incorporates additional hardware components, including a six-axis accelerometer, OLED display interface, RGB LED beads, and a buzzer.In tracked mode, the robot achieves high speeds on smooth or mildly uneven surfaces while minimizing energy use compared to legged locomotion. The quadruped mode excels at surmounting obstacles, adapting nimbly to diverse and challenging terrains, and addres