Wheel-legged robots (WLRs) with knee-wheel placement can switch motion mode into wheeled motion and legged motion depending on the road condition. However, in wheeled motion mode, robots are energy-efficiency and high maneuverability but struggle to handle rough terrain. To address this challenge, we propose a quarter-car model predictive controller (MPC) that utilizes both thigh and calf leg actuation to track sprung mass displacement and regulate tire force during unknown road disturbances. To overcome the high computational demands of whole-body MPC-based posture control for the entire robot, we propose a distributed MPC-based framework with inverse kinematics. Simulations, including quarter-car wheel-legged system simulation, posture tracking, braking, and steering with load transfer, were conducted to evaluate the effectiveness of our proposed control framework and the promising performance of multi-actuation involving the calf leg. The results of this paper demonstrate that our proposed approach is effective in improving the posture control and stability of knee-wheeled WLRs, particularly in rough terrain conditions.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Distributed MPC-based posture control for knee-wheeled wheel-legged robots with multi-actuation


    Beteiligte:
    Pan, Zheng (Autor:in) / Li, Boyuan (Autor:in) / Zhou, Shiyu (Autor:in) / Liu, Shaoxun (Autor:in) / Niu, Zhihua (Autor:in) / Wang, Rongrong (Autor:in)


    Erscheinungsdatum :

    01.12.2024




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    A Survey of Wheeled-Legged Robots

    Bjelonic, Marko / Klemm, Victor / Lee, Joonho et al. | TIBKAT | 2023


    A Survey of Wheeled-Legged Robots

    Bjelonic, Marko / Klemm, Victor / Lee, Joonho et al. | Springer Verlag | 2022


    Wheel-Leg Collaborative Control for Wheel-legged Robots Based on MPC with Preview

    Pan, Zheng / Li, Boyuan / Jing, Hui et al. | IEEE | 2023



    Jumping flying posture adjusting device and wheel-legged vehicle

    HAN LIJIN / XU SHAOWEI / XIE JINGSHUO et al. | Europäisches Patentamt | 2025

    Freier Zugriff