Four-Wheeled Mobile Robot With Flexible Posture Control

Abstract

This paper presents a novel wheeled robot with adaptive suspensions to maintain a stable body posture when driving uneven roads. Each robot suspension is driven by a brushless geared motor, eliminating the traditional mechanical shock absorber. We design a virtual spring-damping system using force control to solve the problem of uneven support and high-frequency oscillation on four wheels. Subsequently, we incorporated a flexible posture control that uses the chassis posture as feedback and linearized the control to improve the dynamic response. Finally, the prototype is experimented on a simulated road and verified that the prototype and the proposed control algorithm can realize the expected requirements.