TY - GEN
T1 - Human-Riding Inspired Acceleration Control of a Wheel-Legged Humanoid Robot
AU - Zhang, Xiaochen
AU - Yu, Zhangguo
AU - Chen, Xuechao
AU - Huang, Gao
AU - Zhu, Min
AU - Zhao, Lingxuan
AU - Qiu, Xuejian
AU - Huang, Qiang
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Wheel-based robots and leg-based robots are two major types of ground mobile robots. It is well known that their performance properties are complementary. With the combination of the two, several of wheel-legged humanoid robots (WLR) are proposed to overcome obstacles on broken pavement and move at high speed on flat pavement. However, WLR's high-speed performance, particularly, during acceleration phase is still not good enough compared with traditional wheeled mobile robots. To be detailed, WLR always response slowly and get large velocity tracking error under the influence of its specific dynamic characteristics. In this case, this paper analyses the conflict between the system's nonlinearity and its inertial dynamics of WLR. Besides, to solve the problem, we present a human-riding inspired acceleration control (HIAC) of a wheel-legged humanoid robot. HIAC contains a partial feedback linearization controller and a human-riding inspired body swing motion. During acceleration phase, it can response quickly and smoothly, also with less error. We demonstrate HIAC's superiority in acceleration by simulation.
AB - Wheel-based robots and leg-based robots are two major types of ground mobile robots. It is well known that their performance properties are complementary. With the combination of the two, several of wheel-legged humanoid robots (WLR) are proposed to overcome obstacles on broken pavement and move at high speed on flat pavement. However, WLR's high-speed performance, particularly, during acceleration phase is still not good enough compared with traditional wheeled mobile robots. To be detailed, WLR always response slowly and get large velocity tracking error under the influence of its specific dynamic characteristics. In this case, this paper analyses the conflict between the system's nonlinearity and its inertial dynamics of WLR. Besides, to solve the problem, we present a human-riding inspired acceleration control (HIAC) of a wheel-legged humanoid robot. HIAC contains a partial feedback linearization controller and a human-riding inspired body swing motion. During acceleration phase, it can response quickly and smoothly, also with less error. We demonstrate HIAC's superiority in acceleration by simulation.
UR - http://www.scopus.com/inward/record.url?scp=85159780839&partnerID=8YFLogxK
U2 - 10.1109/CBS55922.2023.10115358
DO - 10.1109/CBS55922.2023.10115358
M3 - Conference contribution
AN - SCOPUS:85159780839
T3 - 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022
SP - 228
EP - 233
BT - 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022
Y2 - 24 March 2023 through 26 March 2023
ER -