Design and Control of a Wheeled Bipedal Robot Based on Hybrid Linear Quadratic Regulator and Proportional-Derivative Control
Year: 2025
Type: article
Abstract: Wheeled bipedal robots (WBRS) combine the terrain adaptability potential of legged robots with the motion efficiency of wheeled robots, but the terrain adaptability is affected by the control system. Aiming at the defect that the traditional modeling ignores the dynamic changes in head angle and center of mass height, this paper proposes a method of integrated dynamic modeling and hierarchical control. The posture balance optimizes the system performance index through the linear quadratic regulator (LQR) to control the in-wheel motor, and the state feedback matrix is designed to suppress the tipping caused by external interference. At the same time, the changes in head angle and center of mass height are included in the balance control variables. The center of mass height changes are fed back through the proportional differential (PD) control and virtual model control (VMC) algorithm to control the joint motor. Simulation experiments are carried out on multiple platforms to verify that the proposed method effectively improves the control robustness of the traditional wheeled bipedal robot through geometric-dynamic coupling modeling and LQR-PD hybrid control, providing a new method of complex terrain adaptive control.
Source: Sensors
DOI: 10.3390/s25175398
Authors: Yu Xu, Zhaoqiang Wang, Chenhui Lu
Institution: Shanghai University of Engineering Science
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,137
OpenAlex ID: W4413934909