TY - GEN
T1 - Research on Motion Mode Conversion Control of Wheel-legged Biped Robot
AU - Fu, Yili
AU - Li, Xu
AU - Dong, Xinyu
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - The bipedal wheel-legged robot with auxiliary legs studied in this paper has two motion modes, two wheels and four wheels, and can transform motion modes according to operation requirements. This paper focuses on how to realize motion mode transformation control under stable equilibrium. Firstly, kinematics analysis and dynamics modeling of the robot are carried out to complete the motion description and dynamics description of the robot in Cartesian space. Then the robot is simplified into a wheeled inverted pendulum model, and the driving wheel and other parts are decoupled to analyze its dynamic characteristics. In this paper, LQR controller will be used to ensure the robot is always in a balanced state, and then priority task space control (PTSC) based on quadratic programming (QP) will be adopted to track the robot trajectory. Finally, the smooth transformation of the robot under two motion modes of two wheels and four wheels is completed by experiments, which verifies the effectiveness of the control algorithm designed in this paper.
AB - The bipedal wheel-legged robot with auxiliary legs studied in this paper has two motion modes, two wheels and four wheels, and can transform motion modes according to operation requirements. This paper focuses on how to realize motion mode transformation control under stable equilibrium. Firstly, kinematics analysis and dynamics modeling of the robot are carried out to complete the motion description and dynamics description of the robot in Cartesian space. Then the robot is simplified into a wheeled inverted pendulum model, and the driving wheel and other parts are decoupled to analyze its dynamic characteristics. In this paper, LQR controller will be used to ensure the robot is always in a balanced state, and then priority task space control (PTSC) based on quadratic programming (QP) will be adopted to track the robot trajectory. Finally, the smooth transformation of the robot under two motion modes of two wheels and four wheels is completed by experiments, which verifies the effectiveness of the control algorithm designed in this paper.
KW - LQR
KW - Motion Mode Conversion
KW - Priority task-space control
KW - Quadratic programming
KW - Wheel-leg biped robot
UR - https://www.scopus.com/pages/publications/85170828152
U2 - 10.1109/ICMA57826.2023.10215782
DO - 10.1109/ICMA57826.2023.10215782
M3 - 会议稿件
AN - SCOPUS:85170828152
T3 - 2023 IEEE International Conference on Mechatronics and Automation, ICMA 2023
SP - 1756
EP - 1762
BT - 2023 IEEE International Conference on Mechatronics and Automation, ICMA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 20th IEEE International Conference on Mechatronics and Automation, ICMA 2023
Y2 - 6 August 2023 through 9 August 2023
ER -