Dynamic wheeled motion control of wheel-biped transformable robots

Dynamic wheeled motion control of wheel-biped transformable robots

Most existing biped robots can only walk with their feet or move by wheels. To combine the best of both worlds, this paper introduces the dynamic wheeled control including wheeled locomotion and in-situ wheel-to-foot (WtF) transformation of a full-sized wheel-biped transformable robot SR600-II. It c...

Full description

Bibliographic Details
Main Authors: Chao Zhang, Tangyou Liu, Shuang Song, Jiaole Wang, Max Q.-H. Meng
Format: Article
Language:English
Published: Elsevier 2022-06-01
Series:Biomimetic Intelligence and Robotics
Subjects:
Wheel-biped transformable robot
Dynamic control
Wheeled locomotion
Parameter-varying LQR control
Wheel-to-foot transformation
Online Access:http://www.sciencedirect.com/science/article/pii/S2667379721000279

Internet

http://www.sciencedirect.com/science/article/pii/S2667379721000279

Similar Items