Speed and Acceleration Control for a Two Wheel-Leg Robot Based on Distributed Dynamic Model and Whole-Body Control

Xin, Yaxian; Chai, Hui; Li, Yibin; Rong, Xuewen; Li, Bin; Li, Yueyang

doi:10.1109/access.2019.2959333

Cited by 15 publications

(9 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Theodorou et al further worked on the hierarchical optimization for whole-body control of the WIP robot and successfully implemented it in simulations [16]. Yueyang et al proposed the whole-body control of a WIP robot based on a distributed dynamic model that consisted of the torso model, wheel-leg model, and contact force constraint between the wheels and ground in simulation [17]. However, this robot did not include upper limb arm usage.…”

Section: A Related Workmentioning

confidence: 99%

Balance Stability Augmentation for Wheel-Legged Biped Robot Through Arm Acceleration Control

2021

View full text Add to dashboard Cite

A self-balancing wheel-legged robot provides higher maneuverability and mobility than legged biped robots. For this reason, wheel-legged systems have attracted enormous interest from academia and commercial sectors in recent years. Most of the past works in this field mainly focused on lower body stabilization. Motivated by the human ability to maintain balance in laborious activities by articulating the arm actively, we explore and analyze the active arm control on top of the wheel-legged system to assist in its balance recovery during external pushes and disturbances. This paper presents a control framework to improve the stability and robustness of an underactuated self-balancing wheel-legged robot using its upper limb arm. Furthermore, we use the centroidal moment pivot (CMP) as a key metric to quantitatively evaluate the effect of the active arm usage on the balance stability improvement of the robot in the ROS-Gazebo environment. The difference from the case of nonusage of arm is verified to clarify the impact of the active arm quantitatively. This concept would lead to the wheel-legged biped robot with an active arm for dual purposes, one is for carrying objects, another is for increasing the balance stability. This point is important for future application in a real-world environment with human-robot interactions.INDEX TERMS Wheel-legged robots, wheeled inverted pendulum (WIP), underactuated robots, motion control, balance recovery, stability analysis, disturbance rejection.

show abstract

Section: A Related Workmentioning

confidence: 99%

Balance Stability Augmentation for Wheel-Legged Biped Robot Through Arm Acceleration Control

2021

View full text Add to dashboard Cite

show abstract

“…1(a . 20By substituting α, β and γ obtained from (20) into (15) and (18), the lengths of three electric push rods l 01 , l 02 and l 03 can be determined.…”

Section: ) Inverse Position Analysismentioning

confidence: 99%

“…Here, depending on road conditions, the two modes can be freely switched with a legged/wheeled conversion device. (3) A simple combination of wheeled and legged robots, e.g., Handle [16][17][18].…”

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis of a Serial-Parallel Hybrid Mechanism and its Application to a Wheel-Legged Robot

et al. 2020

View full text Add to dashboard Cite

A three-DOF (degree-of-freedom) serial-parallel hybrid mechanism is proposed that consists of a 2-UPS+U component (UPS: universal-/prismatic-/spherical-joint chain and U: universal joint) and an R+RPS component (R: revolute joint and RPS: revolute-/prismatic-/spherical-joint chain). This mechanism can provide high precision and a large workspace, which indicates its applicability to wheel-legged robots. To verify our proposal, a mobility analysis showed that the mechanism simultaneously achieved three rotational movements. Then, the inverse/forward position analysis, velocity analysis, acceleration analysis, and stiffness analysis were carried out. Finally, a prototype of the mechanism was fabricated and its position error was found to be <1.8% despite the large workspace. These results demonstrate the effectiveness of our proposal and provide a new approach for designing new mechanisms for wheel-legged robots. INDEX TERMS Serial-parallel hybrid mechanism, 2-UPS+U mechanism, R+RPS mechanism, kinematics, wheel-legged robot.

show abstract

“…When the height of obstacles is greater than the radius of the wheels, they cannot effectively cross obstacles (Ding and Zhang, 2022). Legged robots have excellent adaptability when moving on the uneven and rough roads, but slow moving speed and low movement energy efficiency have always been technical problems that are difficult to break through (Xin et al, 2019;Xin and Vijayakumar, 2020). To solve this problem, the researchers turned their attention to wheellegged robots.…”

Section: Introductionmentioning

confidence: 99%

Design and dynamic analysis of jumping wheel-legged robot in complex terrain environment

et al. 2022

View full text Add to dashboard Cite

Wheel-legged robots have fast and stable motion characteristics on flat roads, but there are the problems of poor balance ability and low movement level in special terrains such as rough roads. In this paper, a new type of wheel-legged robot with parallel four-bar mechanism is proposed, and the linear quadratic regulator (LQR) controller and fuzzy proportion differentiation (PD) jumping controller are designed and developed to achieve stable motion so that the robot has the ability to jump over obstacles and adapt to rough terrain. The amount of energy released by the parallel four-bar linkage mechanism changes with the change of the link angle, and the height of the jump trajectory changes accordingly, which improves the robot’s ability to overcome obstacles facing vertical obstacles. Simulations and real scene tests are performed in different terrain environments to verify obstacle crossing capabilities. The simulation results show that, in the pothole terrain, the maximum height error of the two hip joint motors is 2 mm for the obstacle surmounting method of the adaptive retractable wheel-legs; in the process of single leg obstacle surmounting, the maximum height error of the hip joint motors is only 6.6 mm. The comparison of simulation data and real scene experimental results shows that the robot has better robustness in moving under complex terrains.

show abstract

Speed and Acceleration Control for a Two Wheel-Leg Robot Based on Distributed Dynamic Model and Whole-Body Control

Cited by 15 publications

References 22 publications

Balance Stability Augmentation for Wheel-Legged Biped Robot Through Arm Acceleration Control

Balance Stability Augmentation for Wheel-Legged Biped Robot Through Arm Acceleration Control

Kinematic Analysis of a Serial-Parallel Hybrid Mechanism and its Application to a Wheel-Legged Robot

Design and dynamic analysis of jumping wheel-legged robot in complex terrain environment

Contact Info

Product

Resources

About