A Motion Controller for Wheel-Legged Biped Robot with Ground Slope Estimator

Hanhai Zhong; Zhitai Liu; Huanli Liu; Qi Chen; Shuai Liu; Tong Wang

doi:10.1109/CCDC65474.2025.11090467

A Motion Controller for Wheel-Legged Biped Robot with Ground Slope Estimator

Hanhai Zhong
, Zhitai Liu^*
, Huanli Liu
, Qi Chen
, Shuai Liu
, Tong Wang

^*Corresponding author for this work

School of Astronautics

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

As an innovative robotic configuration, the WheelLegged Biped Robot (WBR) combines the fast mobility of wheeled systems with the active suspension capability of legged structures. To enable the WBR to effectively follow desired trajectories on sloping terrain, this manuscripts proposes a ground slope estimator based on a nonlinear disturbance observer integrated with an LQR controller. The proposed approach estimates the terrain slope using only onboard sensors, and compensates and corrects the desired motion trajectory based on the estimated slope. Simulation results demonstrate that the proposed control method accurately estimates the ground slope and significantly enhances the WBR ability to follow the desired trajectory on sloped terrain.

Original language	English
Title of host publication	Proceedings of the 37th Chinese Control and Decision Conference, CCDC 2025
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1141-1146
Number of pages	6
ISBN (Electronic)	9798331510565
DOIs	https://doi.org/10.1109/CCDC65474.2025.11090467
State	Published - 2025
Event	37th Chinese Control and Decision Conference, CCDC 2025 - Xiamen, China Duration: 16 May 2025 → 19 May 2025

Publication series

Name	Proceedings of the 37th Chinese Control and Decision Conference, CCDC 2025

Conference

Conference	37th Chinese Control and Decision Conference, CCDC 2025
Country/Territory	China
City	Xiamen
Period	16/05/25 → 19/05/25

Keywords

complex terrain environment
nonlinear disturbance observer
slope estimation
wheel-legged biped robot

Access to Document

10.1109/CCDC65474.2025.11090467

Cite this

Zhong, H., Liu, Z., Liu, H., Chen, Q., Liu, S., & Wang, T. (2025). A Motion Controller for Wheel-Legged Biped Robot with Ground Slope Estimator. In Proceedings of the 37th Chinese Control and Decision Conference, CCDC 2025 (pp. 1141-1146). (Proceedings of the 37th Chinese Control and Decision Conference, CCDC 2025). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCDC65474.2025.11090467

@inproceedings{44d8ec47b92e4e268c32681d053173c5,

title = "A Motion Controller for Wheel-Legged Biped Robot with Ground Slope Estimator",

abstract = "As an innovative robotic configuration, the WheelLegged Biped Robot (WBR) combines the fast mobility of wheeled systems with the active suspension capability of legged structures. To enable the WBR to effectively follow desired trajectories on sloping terrain, this manuscripts proposes a ground slope estimator based on a nonlinear disturbance observer integrated with an LQR controller. The proposed approach estimates the terrain slope using only onboard sensors, and compensates and corrects the desired motion trajectory based on the estimated slope. Simulation results demonstrate that the proposed control method accurately estimates the ground slope and significantly enhances the WBR ability to follow the desired trajectory on sloped terrain.",

keywords = "complex terrain environment, nonlinear disturbance observer, slope estimation, wheel-legged biped robot",

author = "Hanhai Zhong and Zhitai Liu and Huanli Liu and Qi Chen and Shuai Liu and Tong Wang",

note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 37th Chinese Control and Decision Conference, CCDC 2025 ; Conference date: 16-05-2025 Through 19-05-2025",

year = "2025",

doi = "10.1109/CCDC65474.2025.11090467",

language = "英语",

series = "Proceedings of the 37th Chinese Control and Decision Conference, CCDC 2025",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1141--1146",

booktitle = "Proceedings of the 37th Chinese Control and Decision Conference, CCDC 2025",

address = "美国",

}

Zhong, H, Liu, Z, Liu, H, Chen, Q, Liu, S & Wang, T 2025, A Motion Controller for Wheel-Legged Biped Robot with Ground Slope Estimator. in Proceedings of the 37th Chinese Control and Decision Conference, CCDC 2025. Proceedings of the 37th Chinese Control and Decision Conference, CCDC 2025, Institute of Electrical and Electronics Engineers Inc., pp. 1141-1146, 37th Chinese Control and Decision Conference, CCDC 2025, Xiamen, China, 16/05/25. https://doi.org/10.1109/CCDC65474.2025.11090467

A Motion Controller for Wheel-Legged Biped Robot with Ground Slope Estimator. / Zhong, Hanhai; Liu, Zhitai; Liu, Huanli et al.
Proceedings of the 37th Chinese Control and Decision Conference, CCDC 2025. Institute of Electrical and Electronics Engineers Inc., 2025. p. 1141-1146 (Proceedings of the 37th Chinese Control and Decision Conference, CCDC 2025).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A Motion Controller for Wheel-Legged Biped Robot with Ground Slope Estimator

AU - Zhong, Hanhai

AU - Liu, Zhitai

AU - Liu, Huanli

AU - Chen, Qi

AU - Liu, Shuai

AU - Wang, Tong

PY - 2025

Y1 - 2025

N2 - As an innovative robotic configuration, the WheelLegged Biped Robot (WBR) combines the fast mobility of wheeled systems with the active suspension capability of legged structures. To enable the WBR to effectively follow desired trajectories on sloping terrain, this manuscripts proposes a ground slope estimator based on a nonlinear disturbance observer integrated with an LQR controller. The proposed approach estimates the terrain slope using only onboard sensors, and compensates and corrects the desired motion trajectory based on the estimated slope. Simulation results demonstrate that the proposed control method accurately estimates the ground slope and significantly enhances the WBR ability to follow the desired trajectory on sloped terrain.

AB - As an innovative robotic configuration, the WheelLegged Biped Robot (WBR) combines the fast mobility of wheeled systems with the active suspension capability of legged structures. To enable the WBR to effectively follow desired trajectories on sloping terrain, this manuscripts proposes a ground slope estimator based on a nonlinear disturbance observer integrated with an LQR controller. The proposed approach estimates the terrain slope using only onboard sensors, and compensates and corrects the desired motion trajectory based on the estimated slope. Simulation results demonstrate that the proposed control method accurately estimates the ground slope and significantly enhances the WBR ability to follow the desired trajectory on sloped terrain.

KW - complex terrain environment

KW - nonlinear disturbance observer

KW - slope estimation

KW - wheel-legged biped robot

UR - https://www.scopus.com/pages/publications/105013964558

U2 - 10.1109/CCDC65474.2025.11090467

DO - 10.1109/CCDC65474.2025.11090467

M3 - 会议稿件

AN - SCOPUS:105013964558

T3 - Proceedings of the 37th Chinese Control and Decision Conference, CCDC 2025

SP - 1141

EP - 1146

BT - Proceedings of the 37th Chinese Control and Decision Conference, CCDC 2025

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 37th Chinese Control and Decision Conference, CCDC 2025

Y2 - 16 May 2025 through 19 May 2025

ER -

Zhong H, Liu Z, Liu H, Chen Q, Liu S, Wang T. A Motion Controller for Wheel-Legged Biped Robot with Ground Slope Estimator. In Proceedings of the 37th Chinese Control and Decision Conference, CCDC 2025. Institute of Electrical and Electronics Engineers Inc. 2025. p. 1141-1146. (Proceedings of the 37th Chinese Control and Decision Conference, CCDC 2025). doi: 10.1109/CCDC65474.2025.11090467

A Motion Controller for Wheel-Legged Biped Robot with Ground Slope Estimator

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