Modeling and Control of a Wheeled Biped Robot

It is difficult to realize the stable control of a wheeled biped robot (WBR), as it is an underactuated nonlinear system. To improve the balance and dynamic locomotion capabilities of a WBR, a decoupled control framework is proposed. First, the WBR is decoupled into a variable-length wheeled inverted pendulum and a five-link multi-rigid body system. Then, for the above two simplified models, a time-varying linear quadratic regulator and a model predictive controller are designed, respectively. In addition, in order to improve the accuracy of the feedback information of the robot, the Kalman filter is used to optimally estimate the system state. The control framework can enable the WBR to realize changing height, resisting external disturbances, velocity tracking and jumping. The results obtained by simulations and physical experiments verify the effectiveness of the framework.

Automated summary

This article proposes a decoupled control framework to improve the balance and dynamic locomotion capabilities of a wheeled biped robot (WBR). By decoupling the WBR into a wheeled inverted pendulum and a multi-rigid body system, time-varying linear quadratic regulators and a model predictive controller are designed. The Kalman filter is also used to optimize the estimation of system state, enabling the WBR to achieve various functions.