Motion Control of Wheel-Legged Robots: Theoretical and Experimental Validation

Abstract

This research paper is devoted to the study of the balancing motion of wheel-legged robots. By constructing a wheel-legged platform and modeling the dynamics based on physical mechanics, a linear control equation describing the characteristics of this system is finally derived from the nonlinear control equation. The LQR gain matrix as well as the leg length fitting function were derived using MATLAB mathematical operations. A linear quadratic regulator (LQR) and proportional-integral-derivative (PID) based controller is designed and implemented for deployment on an embedded control system. A series of real-world tests show that the wheel-leg platform can effectively maintain equilibrium in a variety of situations and has the ability to carry certain additional loads, demonstrating its potential application value and scalability.