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

Nan Mao; Junpeng Chen; Emmanouil Spyrakos-Papastavridis; Jian S. Dai

doi:10.1017/S0263574724001061

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

Nan Mao^*, Junpeng Chen, Emmanouil Spyrakos-Papastavridis, Jian S. Dai

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

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.

Original language	English
Pages (from-to)	2713-2741
Number of pages	29
Journal	Robotica
Volume	42
Issue number	8
DOIs	https://doi.org/10.1017/S0263574724001061
Publication status	Published - 1 Aug 2024

Keywords

chassis tilt angle
controller design
dynamic modeling
planar parallel mechanism
wheeled biped robot

Access to Document

10.1017/S0263574724001061

Cite this

@article{9df909b9a8d6482bbdf6903ecbeb9975,

title = "Dynamic modeling of wheeled biped robot and controller design for reducing chassis tilt angle",

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 = "chassis tilt angle, controller design, dynamic modeling, planar parallel mechanism, wheeled biped robot",

author = "Nan Mao and Junpeng Chen and Emmanouil Spyrakos-Papastavridis and Dai, {Jian S.}",

note = "Publisher Copyright: {\textcopyright} The Author(s), 2024. Published by Cambridge University Press.",

year = "2024",

month = aug,

day = "1",

doi = "10.1017/S0263574724001061",

language = "English",

volume = "42",

pages = "2713--2741",

journal = "Robotica",

issn = "0263-5747",

publisher = "Cambridge University Press",

number = "8",

}

TY - JOUR

T1 - Dynamic modeling of wheeled biped robot and controller design for reducing chassis tilt angle

AU - Mao, Nan

AU - Chen, Junpeng

AU - Spyrakos-Papastavridis, Emmanouil

AU - Dai, Jian S.

N1 - Publisher Copyright: © The Author(s), 2024. Published by Cambridge University Press.

PY - 2024/8/1

Y1 - 2024/8/1

N2 - 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.

AB - 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.

KW - chassis tilt angle

KW - controller design

KW - dynamic modeling

KW - planar parallel mechanism

KW - wheeled biped robot

UR - http://www.scopus.com/inward/record.url?scp=85206335166&partnerID=8YFLogxK

U2 - 10.1017/S0263574724001061

DO - 10.1017/S0263574724001061

M3 - Article

AN - SCOPUS:85206335166

SN - 0263-5747

VL - 42

SP - 2713

EP - 2741

JO - Robotica

JF - Robotica

IS - 8

ER -

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

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this