Wheel-Legged Robot Balance Control for Bipedal-Like Motion
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Solution Overview
Problem
Under-actuated system robots, such as wheel-legged robots, face challenges in achieving diverse motion due to their limited degrees of freedom, particularly in the roll direction, leading to stability issues and restricted movement patterns.
Innovation Solution
Implementing a mobile robot motion control method that controls the first and second wheel parts to achieve a standing balance state, allowing them to alternately touch the ground while the base part obliquely swings, utilizing telescopic leg portions for bipedal-like motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the wheel-legged robot uses traditional rolling motion, then the structure is simple, but the movement manner is single and terrain adaptability is poor
Solution Approach 1:
The patent implements dynamic motion mode switching that allows the robot to transition between rolling motion and bipedal-like motion based on terrain conditions. The motion controller dynamically adjusts the drive signals to wheel motors and leg actuators, enabling the system to adapt its movement characteristics in real-time, thereby improving terrain adaptability without permanently increasing structural complexity
Solution Approach 2:
The robot system is designed with multi-functionality by integrating both rolling capability (through wheel motors) and bipedal walking capability (through leg actuators with telescopic leg portions). This universal design allows the same robot to perform multiple movement functions, enriching the movement manners while maintaining a unified platform
2Stability of the object's composition
If the wheel-legged robot achieves two-wheeled balance with perpendicular motion planes, then the balance is stable, but the degree of freedom in roll direction is limited
Solution Approach 1:
The patent introduces motion in the roll direction by enabling the motion plane of the leg portion to rotate relative to the base part. This adds a new dimensional degree of freedom that was previously constrained, allowing the robot to perform bipedal-like motion with oblique swinging of the base part while maintaining balance stability through coordinated control
3Adaptability or versatility
If the robot performs bipedal-like motion with alternating wheel contact, then the terrain adaptability is enhanced, but the control complexity increases
Solution Approach 1:
The motion controller implements feedback control by continuously monitoring the robot's state and adjusting drive signals to wheel motors and leg actuators. This feedback mechanism enables the robot to maintain balance and execute bipedal-like motion patterns adaptively, managing control complexity through intelligent control algorithms rather than mechanical complexity
Data Source
AI summary
This application discloses a mobile robot and a method for controlling motion of the mobile robot. The mobile robot includes a first wheel part having a telescopic leg portion, a second wheel part having a telescopic leg portion, and a base part connected to the first wheel part and the second wheel part. The method includes: controlling the first wheel part and the second wheel part to be in a standing balance state, wherein the base part is parallel to a horizontal reference plane in the standing balance state; and controlling the mobile robot to perform bipedal-like motion based on the standing balance state, wherein, during the bipedal-like motion, the first wheel part and the second wheel part alternately touch the ground while the base part obliquely swinging.