System Design and Balance Control of a Bipedal Leg-wheeled Robot

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI:10.1109/ROBIO49542.2019.8961814

Chao Zhang, Tangyou Liu, Shuang Song, M. Meng

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引用次数: 20

Abstract

The combination of wheels and humanoid robots is a promising way to improve the performance of bipedal robots in agility, moving speed, and energy efficiency. This combination enables the robot to move faster on flat ground, which can effectively improve the adaptability of the biped robot in application scenarios such as logistic distribution, inspection and home services. This paper introduces a 6-DOF bipedal leg-wheeled robot SR600, which has two actuated wheels at the end of the robot shanks, and achieves its balance and locomotion through wheel-driven approach. SR600 is mainly composed of five parts: a waist, two thighs, and two shanks with wheels. It is modeled as a variable-structure wheeled inverted pendulum and we derived its kinematics model based on the center of gravity constraint. Control strategies for balance and locomotion of SR600 are handled by proportional integral differential (PID) controllers. Finally, several practical experiments are conducted to validate the feasibility of the robot mechatronic system and the balance control strategies.

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两足腿轮机器人的系统设计与平衡控制

轮式机器人与人形机器人的结合是提高两足机器人敏捷性、移动速度和能效的一种很有前途的方法。这种组合使机器人能够在平坦的地面上更快地移动，可以有效地提高双足机器人在物流配送、巡检、家政服务等应用场景中的适应性。本文介绍了一种六自由度双足腿轮式机器人SR600，在机器人柄端有两个作动轮，通过轮驱动的方式实现机器人的平衡和运动。SR600主要由五个部分组成:一个腰部，两个大腿，两个带轮子的小腿。将其建模为变结构轮式倒立摆，建立了基于重心约束的倒立摆运动学模型。SR600的平衡和运动控制策略采用比例积分微分(PID)控制器。最后，通过几个实际实验验证了机器人机电系统和平衡控制策略的可行性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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