Balance Control of a Novel Wheel-legged Robot: Design and Experiments
Shuai Wang Leilei Cui Jingfan Zhang Jie Lai Dongsheng Zhang Ke Chen Yu Zheng Zhengyou Zhang Zhong-Ping Jiang Shuai Wang Leilei Cui Jingfan Zhang Jie Lai Dongsheng Zhang Ke Chen Yu Zheng Zhengyou Zhang Zhong-Ping Jiang
This paper presents a balance control technique for a novel wheel-legged robot. We first derive a dynamic model of the robot and then apply a linear feedback controller based on output regulation and linear quadratic regulator (LQR) methods to maintain the standing of the robot on the ground without moving backward and forward mightily. To take into account nonlinearities of the model and obtain a...