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Dynamic modeling of wheeled biped robot and controller design for reducing chassis tilt angle

Published online by Cambridge University Press:  02 October 2024

Nan Mao Open the ORCID record for Nan Mao [Opens in a new window] ,
Junpeng Chen ,
Emmanouil Spyrakos-Papastavridis  and
Jian S. Dai
Nan Mao*
Affiliation:
Centre for Robotics Research, King’s College London, London, UK Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China
Junpeng Chen
Affiliation:
Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China
Emmanouil Spyrakos-Papastavridis
Affiliation:
Centre for Robotics Research, King’s College London, London, UK
Jian S. Dai
Affiliation:
Centre for Robotics Research, King’s College London, London, UK Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China
*
Corresponding author: Nan Mao; Email: [email protected]
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Abstract

The wheeled-legged robot combines the advantages of wheeled and legged robots, making it easier to assist people in completing repetitive and time-consuming tasks in their daily lives. This paper presents a study on the kinematic and dynamic modeling, as well as the controller design, of a wheeled biped robot with a parallel five-bar linkage mechanism as its leg module. During the motion of the robot, the robot relies on the tilt angle of the inverted pendulum, and this angle often results in the tilting of the chassis of the robot, presenting challenges for the installation of upper-body payloads and sensor systems. The controller proposed in this paper, which is developed by decoupling the primary motions of the robot and designing a multi-objective, multilevel controller, addresses this issue. This controller employs the pendulum pitch angle of the equivalent inverted pendulum model as the control variable and compensates for the chassis tilt angle (CTA). This control method can effectively reduce the CTA of such robots and eliminate the need for additional counterweights. It also provides a more spacious structural design for accommodating upper-body devices. The effectiveness of this control framework is verified through variable height control, walking on flat ground, and carrying loads over rough terrain and slopes.

Keywords

controller designdynamic modelingwheeled biped robotchassis tilt angleplanar parallel mechanism
Type
Research Article
Information
Robotica , Volume 42 , Issue 8 , August 2024 , pp. 2713 - 2741
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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