Dynamic Height Balance Control for Bipedal Wheeled Robot Based on ROS-Gazebo

Abstract

In complex living environments, the application of mobile robots places higher demands on speed, flexibility, and affinity for people. This is an ongoing challenge in mobile robotics. Having these properties is an important research task for mobile robots in human settlements. The SR600 robot is a bipedal wheeled robot platform, developed by the RP laboratory of Harbin Institute of Technology, Shenzhen, is a human-like bipedal legged-wheeled robot. This paper introduces a method to realize changing height while the bipedal wheeled robot maintains dynamic balance, and simulated it by constructing a simple ROS-Gazebo simulation environment. Finally, the feasibility of the method is verified by a simple prototype experiment.