串联式轮腿机器人姿态控制方法

To address the precise attitude control of a serial wheel-legged robot,a motion control framework with offset-free model predictive control as the core is proposed. Firstly, a concentrated center-of-mass dynamics model is established,which considers the mass distribution of body,legs,and wheels. Based on the concept of active disturbance rejection control,the unmodeled characteristics of the model are treated as disturbances, and an extended state observer is established to estimate and compensate for the unmodeled characteristics. Furthermore,the joint control is introduced to solve the problem that the wheels are easy to roll and cause leg abduction during attitude adjustment, and an additional wheel control strategy is designed to assist in constraining the leg state. The hardware experiments are conducted on the serial wheel-legged robot. The results show that the proposed motion control framework can accurately track the desired attitude signal, effectively suppress the terrain disturbances and external force disturbances,and ensure the driving stability and disturbance resistance capability of the robot.