TY - GEN
T1 - Balance and Jump Control Strategies for Bipedal Wheeled-Legged Robots in Unstructured Environments
AU - Lin, Xing
AU - Yu, Xiao
AU - Lou, Yunjiang
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - The high degrees of freedom (DOF) and complex dynamics of bipedal wheeled-legged robots pose significant challenges for modeling and control design. To address these challenges, this study proposes an integrated control approach that combines Linear Quadratic Regulator (LQR) and Virtual Model Control (VMC). The LQR is employed for full-body posture and balance regulation, while the VMC generates precise hip joint torques to coordinate leg motion. Simulation experiments conducted on complex unstructured terrains, such as bumps, steps, and slopes, demonstrate the feasibility and effectiveness of the proposed method in tasks such as balance control, leg length adjustment, jumping, and slope traversal.
AB - The high degrees of freedom (DOF) and complex dynamics of bipedal wheeled-legged robots pose significant challenges for modeling and control design. To address these challenges, this study proposes an integrated control approach that combines Linear Quadratic Regulator (LQR) and Virtual Model Control (VMC). The LQR is employed for full-body posture and balance regulation, while the VMC generates precise hip joint torques to coordinate leg motion. Simulation experiments conducted on complex unstructured terrains, such as bumps, steps, and slopes, demonstrate the feasibility and effectiveness of the proposed method in tasks such as balance control, leg length adjustment, jumping, and slope traversal.
KW - bipedal wheeled-legged robots
KW - linear quadratic regulator
KW - unstructured scenarios
KW - virtual model control
UR - https://www.scopus.com/pages/publications/105016788754
U2 - 10.1109/IEEECONF65522.2025.11137180
DO - 10.1109/IEEECONF65522.2025.11137180
M3 - 会议稿件
AN - SCOPUS:105016788754
T3 - Proceedings of 2025 IEEE 26th China Conference on System Simulation Technology and its Applications, CCSSTA 2025
SP - 491
EP - 496
BT - Proceedings of 2025 IEEE 26th China Conference on System Simulation Technology and its Applications, CCSSTA 2025
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 26th IEEE China Conference on System Simulation Technology and its Applications, CCSSTA 2025
Y2 - 11 July 2025 through 13 July 2025
ER -