Research on wheel-legged robot based on LQR and ADRC
Abstract The traditional two-wheeled self-balancing robot can travel quickly in a flat road environment, and it is easy to destabilize and capsize when passing through a bumpy road. To improve the passing ability of a two-wheeled robot, a new wheel-legged two-wheeled robot is developed. A seven-link...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Nature Portfolio
2023-09-01
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| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-023-41462-1 |
| _version_ | 1797576734540824576 |
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| author | Xujiong Feng Shuaishuai Liu Qiang Yuan Junbo Xiao Daxu Zhao |
| author_facet | Xujiong Feng Shuaishuai Liu Qiang Yuan Junbo Xiao Daxu Zhao |
| author_sort | Xujiong Feng |
| collection | DOAJ |
| description | Abstract The traditional two-wheeled self-balancing robot can travel quickly in a flat road environment, and it is easy to destabilize and capsize when passing through a bumpy road. To improve the passing ability of a two-wheeled robot, a new wheel-legged two-wheeled robot is developed. A seven-link leg structure is proposed through the comprehensive design of mechanism configuration, which decouples the balanced motion and leg motion of the robot. Based on the Euler–Lagrange method, the dynamic model of the system is obtained by applying the nonholonomic dynamic Routh equation in the generalized coordinate system. The robot’s state space is divided according to the robot’s height, and the Riccati equation is solved in real-time by the linear quadratic regulator (LQR) method to complete the balance and motion control of the robot. The robot leg motion control is achieved based on the active disturbance rejection control (ADRC) way. A robot simulation model is built on Recurdyn to verify the algorithm’s feasibility, and then an experimental prototype is built to demonstrate the algorithm’s effectiveness. The experimental results show that the control method based on LQR and ADRC can make the robot pass through the bumpy road. |
| first_indexed | 2024-03-10T21:57:54Z |
| format | Article |
| id | doaj.art-e7602aa66a424544bc9d6b7ac699a837 |
| institution | Directory Open Access Journal |
| issn | 2045-2322 |
| language | English |
| last_indexed | 2024-03-10T21:57:54Z |
| publishDate | 2023-09-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj.art-e7602aa66a424544bc9d6b7ac699a8372023-11-19T13:04:46ZengNature PortfolioScientific Reports2045-23222023-09-0113111210.1038/s41598-023-41462-1Research on wheel-legged robot based on LQR and ADRCXujiong Feng0Shuaishuai Liu1Qiang Yuan2Junbo Xiao3Daxu Zhao4Jiangsu Key Laboratory of Advanced Manufacturing Technology, Huaiyin Institute of TechnologyZhejiang AF UniversityZhejiang AF UniversityJiangsu Key Laboratory of Advanced Manufacturing Technology, Huaiyin Institute of TechnologyJiangsu Key Laboratory of Advanced Manufacturing Technology, Huaiyin Institute of TechnologyAbstract The traditional two-wheeled self-balancing robot can travel quickly in a flat road environment, and it is easy to destabilize and capsize when passing through a bumpy road. To improve the passing ability of a two-wheeled robot, a new wheel-legged two-wheeled robot is developed. A seven-link leg structure is proposed through the comprehensive design of mechanism configuration, which decouples the balanced motion and leg motion of the robot. Based on the Euler–Lagrange method, the dynamic model of the system is obtained by applying the nonholonomic dynamic Routh equation in the generalized coordinate system. The robot’s state space is divided according to the robot’s height, and the Riccati equation is solved in real-time by the linear quadratic regulator (LQR) method to complete the balance and motion control of the robot. The robot leg motion control is achieved based on the active disturbance rejection control (ADRC) way. A robot simulation model is built on Recurdyn to verify the algorithm’s feasibility, and then an experimental prototype is built to demonstrate the algorithm’s effectiveness. The experimental results show that the control method based on LQR and ADRC can make the robot pass through the bumpy road.https://doi.org/10.1038/s41598-023-41462-1 |
| spellingShingle | Xujiong Feng Shuaishuai Liu Qiang Yuan Junbo Xiao Daxu Zhao Research on wheel-legged robot based on LQR and ADRC Scientific Reports |
| title | Research on wheel-legged robot based on LQR and ADRC |
| title_full | Research on wheel-legged robot based on LQR and ADRC |
| title_fullStr | Research on wheel-legged robot based on LQR and ADRC |
| title_full_unstemmed | Research on wheel-legged robot based on LQR and ADRC |
| title_short | Research on wheel-legged robot based on LQR and ADRC |
| title_sort | research on wheel legged robot based on lqr and adrc |
| url | https://doi.org/10.1038/s41598-023-41462-1 |
| work_keys_str_mv | AT xujiongfeng researchonwheelleggedrobotbasedonlqrandadrc AT shuaishuailiu researchonwheelleggedrobotbasedonlqrandadrc AT qiangyuan researchonwheelleggedrobotbasedonlqrandadrc AT junboxiao researchonwheelleggedrobotbasedonlqrandadrc AT daxuzhao researchonwheelleggedrobotbasedonlqrandadrc |