{"title":"两足腿轮机器人的系统设计与平衡控制","authors":"Chao Zhang, Tangyou Liu, Shuang Song, M. Meng","doi":"10.1109/ROBIO49542.2019.8961814","DOIUrl":null,"url":null,"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.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"20","resultStr":"{\"title\":\"System Design and Balance Control of a Bipedal Leg-wheeled Robot\",\"authors\":\"Chao Zhang, Tangyou Liu, Shuang Song, M. Meng\",\"doi\":\"10.1109/ROBIO49542.2019.8961814\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":121822,\"journal\":{\"name\":\"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":\"15 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"20\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO49542.2019.8961814\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO49542.2019.8961814","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
System Design and Balance Control of a Bipedal Leg-wheeled Robot
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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