Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot

IF 4.9 3区计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY Journal of Bionic Engineering Pub Date : 2025-02-20 DOI:10.1007/s42235-025-00657-0

Yi Xiong, Haojie Liu, Bingxing Chen, Yanjie Chen, Ligang Yao, Zongxing Lu

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Abstract

The wheeled bipedal robots have great application potential in environments with a mixture of structured and unstructured terrain. However, wheeled bipedal robots have problems such as poor balance ability and low movement level on rough roads. In this paper, a novel and low-cost wheeled bipedal robot with an asymmetrical five-link mechanism is proposed, and the kinematics of the legs and the dynamics of the Wheeled Inverted Pendulum (WIP) are modeled. The primary balance controller of the wheeled bipedal robot is built based on the Linear Quadratic Regulator (LQR) and the compensation method of the virtual pitch angle adjusting the Center of Mass (CoM) position, then the whole-body hybrid torque-position control is established by combining attitude and leg controllers. The stability of the robot’s attitude control and motion is verified with simulations and prototype experiments, which confirm the robot’s ability to pass through complex terrain and resist external interference. The feasibility and reliability of the proposed control model are verified.

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来源期刊

Journal of Bionic Engineering 工程技术-材料科学：生物材料

CiteScore

7.10

自引率

10.00%

发文量

162

审稿时长

10.0 months

期刊介绍： The Journal of Bionic Engineering (JBE) is a peer-reviewed journal that publishes original research papers and reviews that apply the knowledge learned from nature and biological systems to solve concrete engineering problems. The topics that JBE covers include but are not limited to: Mechanisms, kinematical mechanics and control of animal locomotion, development of mobile robots with walking (running and crawling), swimming or flying abilities inspired by animal locomotion. Structures, morphologies, composition and physical properties of natural and biomaterials; fabrication of new materials mimicking the properties and functions of natural and biomaterials. Biomedical materials, artificial organs and tissue engineering for medical applications; rehabilitation equipment and devices. Development of bioinspired computation methods and artificial intelligence for engineering applications.