High-Flexibility Locomotion and Whole-Torso Control for a Wheel-Legged Robot on Challenging Terrain

Xu, Ke; Wang, Shoukun; Wang, Xiuwen; Wang, Junzheng; Chen, Zhihua; Liu, Daohe

doi:10.1109/icra40945.2020.9197526

Cited by 6 publications

(1 citation statement)

References 18 publications

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“…Wheels have the advantages of high efficiency and rapid movement, while leg-based locomotion is more versatile and can overcome challenging environments. Combining the advantages of the two can achieve the best of both worlds [ 1 , 2 , 3 ].…”

Section: Introductionmentioning

confidence: 99%

Modeling and Control of a Wheeled Biped Robot

et al. 2022

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It is difficult to realize the stable control of a wheeled biped robot (WBR), as it is an underactuated nonlinear system. To improve the balance and dynamic locomotion capabilities of a WBR, a decoupled control framework is proposed. First, the WBR is decoupled into a variable-length wheeled inverted pendulum and a five-link multi-rigid body system. Then, for the above two simplified models, a time-varying linear quadratic regulator and a model predictive controller are designed, respectively. In addition, in order to improve the accuracy of the feedback information of the robot, the Kalman filter is used to optimally estimate the system state. The control framework can enable the WBR to realize changing height, resisting external disturbances, velocity tracking and jumping. The results obtained by simulations and physical experiments verify the effectiveness of the framework.

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Section: Introductionmentioning

confidence: 99%