Integrated Motion Control Framework of Wheel-Legged Biped Robot on Rugged Terrain

As a novel robotic architecture, the wheeled–biped robot (WBR) offers the potential for rapid locomotion in complex environments. However, existing control schemes still exhibit limited mobility on rugged terrain with vertical drops and obstacles. This work proposes an Integrated Motion Control Framework (IMCF) based on a wheeled–legged floating base dynamic model, incorporating a three-phase balance control system and a composite motion state estimator. The IMCF was implemented on the WBR platform Lustin, and experimental results demonstrate outstanding robustness and superior trajectory-tracking performance. The robot achieves high-speed, stable traversal of rugged terrain with drops and obstacles while maintaining stability and exhibiting strong adaptability and robustness to external disturbances.