TY - GEN
T1 - Balance Control of a Novel Wheel-legged Robot
T2 - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
AU - Wang, Shuai
AU - Cui, Leilei
AU - Zhang, Jingfan
AU - Lai, Jie
AU - Zhang, Dongsheng
AU - Chen, Ke
AU - Zheng, Yu
AU - Zhang, Zhengyou
AU - Jiang, Zhong Ping
N1 - Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - This paper presents a balance control technique for a novel wheel-legged robot. We first derive a dynamic model of the robot and then apply a linear feedback controller based on output regulation and linear quadratic regulator (LQR) methods to maintain the standing of the robot on the ground without moving backward and forward mightily. To take into account nonlinearities of the model and obtain a large domain of stability, a nonlinear controller based on the interconnection and damping assignment - passivity-based control (IDA-PBC) method is exploited to control the robot in more general scenarios. Physical experiments are performed with various control tasks. Experimental results demonstrate that the proposed linear output regulator can maintain the standing of the robot, while the proposed nonlinear controller can balance the robot under an initial starting angle far away from the equilibrium point, or under a changing robot height.
AB - This paper presents a balance control technique for a novel wheel-legged robot. We first derive a dynamic model of the robot and then apply a linear feedback controller based on output regulation and linear quadratic regulator (LQR) methods to maintain the standing of the robot on the ground without moving backward and forward mightily. To take into account nonlinearities of the model and obtain a large domain of stability, a nonlinear controller based on the interconnection and damping assignment - passivity-based control (IDA-PBC) method is exploited to control the robot in more general scenarios. Physical experiments are performed with various control tasks. Experimental results demonstrate that the proposed linear output regulator can maintain the standing of the robot, while the proposed nonlinear controller can balance the robot under an initial starting angle far away from the equilibrium point, or under a changing robot height.
UR - http://www.scopus.com/inward/record.url?scp=85113202596&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85113202596&partnerID=8YFLogxK
U2 - 10.1109/ICRA48506.2021.9561579
DO - 10.1109/ICRA48506.2021.9561579
M3 - Conference contribution
AN - SCOPUS:85113202596
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 6782
EP - 6788
BT - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 30 May 2021 through 5 June 2021
ER -