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Micromachines
Volume 13
Issue 5
10.3390/mi13050747
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Article

Modeling and Control of a Wheeled Biped Robot

by
Zemin Cui
1,
Yaxian Xin
2,
Shuyun Liu
3,*,
Xuewen Rong
1,* and
Yibin Li
1
1
School of Control Science and Engineering, Shandong University, Jinan 250100, China
2
School of Rail Transportation, Shandong Jiaotong University, Jinan 250357, China
3
Department of Assets and Laboratory Management, Shandong University, Jinan 250100, China
*
Authors to whom correspondence should be addressed.
Micromachines 2022, 13(5), 747; https://doi.org/10.3390/mi13050747
Submission received: 16 March 2022 / Revised: 2 May 2022 / Accepted: 5 May 2022 / Published: 8 May 2022
(This article belongs to the Special Issue New Advances in Biomimetic Robots)
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Abstract

It is difficult to realize the stable control of a wheeled biped robot (WBR), as it is an underactuated nonlinear system. To improve the balance and dynamic locomotion capabilities of a WBR, a decoupled control framework is proposed. First, the WBR is decoupled into a variable-length wheeled inverted pendulum and a five-link multi-rigid body system. Then, for the above two simplified models, a time-varying linear quadratic regulator and a model predictive controller are designed, respectively. In addition, in order to improve the accuracy of the feedback information of the robot, the Kalman filter is used to optimally estimate the system state. The control framework can enable the WBR to realize changing height, resisting external disturbances, velocity tracking and jumping. The results obtained by simulations and physical experiments verify the effectiveness of the framework.
Keywords: wheeled biped robot; linear quadratic regulator; model predictive control; model decoupling wheeled biped robot; linear quadratic regulator; model predictive control; model decoupling

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MDPI and ACS Style

Cui, Z.; Xin, Y.; Liu, S.; Rong, X.; Li, Y. Modeling and Control of a Wheeled Biped Robot. Micromachines 2022, 13, 747. https://doi.org/10.3390/mi13050747

AMA Style

Cui Z, Xin Y, Liu S, Rong X, Li Y. Modeling and Control of a Wheeled Biped Robot. Micromachines. 2022; 13(5):747. https://doi.org/10.3390/mi13050747

Chicago/Turabian Style

Cui, Zemin, Yaxian Xin, Shuyun Liu, Xuewen Rong, and Yibin Li. 2022. "Modeling and Control of a Wheeled Biped Robot" Micromachines 13, no. 5: 747. https://doi.org/10.3390/mi13050747

APA Style

Cui, Z., Xin, Y., Liu, S., Rong, X., & Li, Y. (2022). Modeling and Control of a Wheeled Biped Robot. Micromachines, 13(5), 747. https://doi.org/10.3390/mi13050747

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