Abstract
This study investigates the self-balancing performance
of a bipedal wheel-legged robot under a range of disturbances
and faulty conditions. The disturbances include external
kicks, additional weight loads, wind forces, trailer carrying,
and collisions. Additionally, the paper evaluates the robot’s
resilience under various working and fault conditions including
balancing on soft and rotatable surfaces and working with wheel
malfunctions. The cascaded PID and adaptive control method are
employed for the robot’s balance and movement. Comprehensive
simulation and experimental results demonstrate the effectiveness
and robustness of the wheel-legged robot control.
of a bipedal wheel-legged robot under a range of disturbances
and faulty conditions. The disturbances include external
kicks, additional weight loads, wind forces, trailer carrying,
and collisions. Additionally, the paper evaluates the robot’s
resilience under various working and fault conditions including
balancing on soft and rotatable surfaces and working with wheel
malfunctions. The cascaded PID and adaptive control method are
employed for the robot’s balance and movement. Comprehensive
simulation and experimental results demonstrate the effectiveness
and robustness of the wheel-legged robot control.
| Original language | English |
|---|---|
| Publication status | Accepted/In press - Sept 2024 |
| Event | 2024 International Conference on Intelligent Robotics and Automatic Control - Duration: 29 Nov 2024 → 1 Dec 2024 https://www.icirac.org/ |
Conference
| Conference | 2024 International Conference on Intelligent Robotics and Automatic Control |
|---|---|
| Period | 29/11/24 → 1/12/24 |
| Internet address |