Research on motion control of bipedal wheeled-leg robot based on distributed model

Yann Yang; Zhian Zhang

doi:10.1117/12.3011344

1 December 2023 Research on motion control of bipedal wheeled-leg robot based on distributed model

Yann Yang, Zhian Zhang

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 129401E (2023) https://doi.org/10.1117/12.3011344
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

With the rapid development of mobile robot technology, bipedal wheeled-leg robots, which combine the efficient mobility of wheeled robots and the adaptability of legged robots to uneven terrain, are gradually attracting widespread attention. In complex terrains and unstructured environments, such as stairs, ramps, and narrow spaces, bipedal wheeled-leg robots have superior mobility and adaptability. This article introduces a motion control method for bipedal wheeled-leg robots with a five-bar leg configuration. This method decouples the robot system based on a distributed model, analyzes the body and wheeled leg system separately, and implements a controller for the robot's rapid movement on flat terrain, adaptation to unstructured terrain, and jumping movements through virtual model control and model predictive control. A series of experiments have verified the feasibility of the prototype system's movement in real-world scenarios.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yann Yang and Zhian Zhang "Research on motion control of bipedal wheeled-leg robot based on distributed model", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 129401E (1 December 2023); https://doi.org/10.1117/12.3011344

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