Motion Control of A Noval Bipedal Wheeled Robot:VC-I

Abstract

Although the integration of wheeled and legged functionalities in robot designs, known as wheel-legged systems, enables operation across diverse environments, the demand for handling increasingly complex tasks necessitates wheel-leg systems equipped with a broader array of movement capabilities. In this paper, we have developed and implemented a motion control system on a novel tandem bipedal wheeled robot named VC-I. Within this system, addressing the robot’s inherent static instability and the dynamic characteristics of its model, we have adopted the State-Dependent Riccati Equation (SDRE) method as the robot’s balance controller. Additionally, tailored to meet the demands of specific tasks, we have designed controllers that manage a range of functions, including attitude angle and jumping capabilities, thereby enhancing the robot’s operational versatility and effectiveness in varied environments. In conclusion, the effectiveness of the designed control system was validated through a comprehensive series of simulations and real-world experiments, confirming its viability and performance.