TY - GEN
T1 - Motion Planning and Control of Wheel-legged Vehicle Compound Jumping
AU - Xie, Jingshuo
AU - Han, Lijin
AU - Zhao, Xuanhu
AU - Liu, Hui
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper carries out related research work about the jumping motion control of the wheel-legged vehicle. Firstly, based on the Lagrangian method, the single-leg flying-phase and landing-phase dynamics models of the wheel-legged vehicle are established, and a basic wheel-legged compound jumping motion is proposed. The jumping process is divided into the take-off stage, the flying stage and the landing stage, the trajectory planning of the center of mass in each stage is completed. Secondly, a jump control strategy with attitude and joint control as the core is designed, and the attitude control module converts the center of mass attitude adjustment problem into joint trajectory tracking problem, the joint control adopts the inverse dynamics feedback control method. Finally, the working condition indicators are selected, and the wheel-legged vehicle jumping simulation work is completed based on Simulink, which verifies the rationality of jumping trajectory planning and the effectiveness of jumping motion control strategy.
AB - This paper carries out related research work about the jumping motion control of the wheel-legged vehicle. Firstly, based on the Lagrangian method, the single-leg flying-phase and landing-phase dynamics models of the wheel-legged vehicle are established, and a basic wheel-legged compound jumping motion is proposed. The jumping process is divided into the take-off stage, the flying stage and the landing stage, the trajectory planning of the center of mass in each stage is completed. Secondly, a jump control strategy with attitude and joint control as the core is designed, and the attitude control module converts the center of mass attitude adjustment problem into joint trajectory tracking problem, the joint control adopts the inverse dynamics feedback control method. Finally, the working condition indicators are selected, and the wheel-legged vehicle jumping simulation work is completed based on Simulink, which verifies the rationality of jumping trajectory planning and the effectiveness of jumping motion control strategy.
KW - attitude
KW - joint control
KW - trajectory planning
KW - wheel-legged compound jumping motion
KW - wheel-legged vehicle
UR - http://www.scopus.com/inward/record.url?scp=85185385809&partnerID=8YFLogxK
U2 - 10.1109/CVCI59596.2023.10397272
DO - 10.1109/CVCI59596.2023.10397272
M3 - Conference contribution
AN - SCOPUS:85185385809
T3 - Proceedings of the 2023 7th CAA International Conference on Vehicular Control and Intelligence, CVCI 2023
BT - Proceedings of the 2023 7th CAA International Conference on Vehicular Control and Intelligence, CVCI 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th CAA International Conference on Vehicular Control and Intelligence, CVCI 2023
Y2 - 27 October 2023 through 29 October 2023
ER -