Feng Xujiong, Liu Shuaishuai, Yuan Qiang, Xiao Junbo, Zhao Daxu
Jiangsu Key Laboratory of Advanced Manufacturing Technology, Huaiyin Institute of Technology, Jiangsu, 223003, China.
Zhejiang AF University, Hangzhou, 310000, China.
Sci Rep. 2023 Sep 13;13(1):15122. doi: 10.1038/s41598-023-41462-1.
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.
传统两轮自平衡机器人在平坦路面环境中能快速行驶，但在通过崎岖路面时容易失稳和翻车。为提高两轮机器人的通过能力，研发了一种新型轮腿式两轮机器人。通过机构构型的综合设计提出了一种七连杆腿部结构，该结构使机器人的平衡运动和腿部运动解耦。基于欧拉 - 拉格朗日方法，在广义坐标系中应用非完整动力学劳斯方程得到系统的动力学模型。根据机器人的高度划分机器人的状态空间，采用线性二次型调节器（LQR）方法实时求解黎卡提方程，以完成机器人的平衡和运动控制。基于自抗扰控制（ADRC）方式实现机器人腿部运动控制。在Recurdyn上建立机器人仿真模型以验证算法的可行性，然后搭建实验样机以证明算法的有效性。实验结果表明，基于LQR和ADRC的控制方法能使机器人通过崎岖路面。
