Modeling and Control of a Wheeled Biped Robot

Article Automation & Control Systems

Flexible gait transition for six wheel-legged robot with unstructured terrains

Zhihua Chen et al.

Summary: This article proposes a hierarchical control framework with behavior rules for legged stable walking of hexapod wheel-legged robots in unstructured terrain. The framework includes a flexible gait planner and a gait feedback regulator, which can adapt to different terrains by adjusting the foot-end trajectory according to terrain feedback information.

ROBOTICS AND AUTONOMOUS SYSTEMS (2022)

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Article Robotics

Towards Terrain Adaptablity: In Situ Transformation of Wheel-Biped Robots

Tangyou Liu et al.

Summary: This paper investigates an in situ transformation method for wheel-biped transformable robots, aiming to combine the advantages of wheeled and footed robots. The transformation process includes foot-to-wheel and wheel-to-foot transformations, both requiring the robot to meet the constraints of footed and wheeled balances. A projection-based algorithm is proposed to adjust the robot posture and maintain balance during the transformation. Simulations and experiments on a prototype robot have verified the effectiveness of the proposed design and control strategy.

IEEE ROBOTICS AND AUTOMATION LETTERS (2022)

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Article Robotics

Underactuated Motion Planning and Control for Jumping With Wheeled-Bipedal Robots

Hua Chen et al.

Summary: This study focuses on jumping for wheeled-bipedal robots, developing a comprehensive hierarchical scheme for motion planning and control. The underactuation of wheeled-bipedal dynamics is addressed through a novel W-SLIP model and quadratic programming approach, allowing for accurate tracking of planned trajectories. The overall planning and control scheme is validated through V-REP simulations of a prototype wheeled-bipedal robot.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

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Article Robotics

Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds

Yanran Ding et al.

Summary: This article introduces a novel representation-free model predictive control framework for controlling dynamic motions of a quadrupedal robot in three-dimensional space. The controller can operate at real-time rates of 250 Hz and stabilize dynamic motions that involve singularity in 3-D maneuvers.

IEEE TRANSACTIONS ON ROBOTICS (2021)

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Article Robotics