Configuration Transformation of the Wheel-Legged Robot Using Inverse Dynamics Control
Haitao Zhou Haoyang Yu Xu Li Haibo Feng Songyuan Zhang Yili Fu Haitao Zhou Haoyang Yu Xu Li Haibo Feng Songyuan Zhang Yili Fu
In this paper, the configuration transformation of Wheel-Legged Robot (WLR) is studied, which can enable the robot to change its multilinks configuration on Inverted Equilibrium Manifold (IEM), while keeping balance with a small location drift on the floor. First of all, the general form of dynamics equation of planar Articulated Wheeled Inverted Pendulum (AWIP) with a wheel and n − 1 rigid links,...