@inproceedings{6d2c0cec82e843118beeb1c82f5e882d,
title = "System Design and Balance Control of a Novel Electrically-driven Wheel-legged Humanoid Robot",
abstract = "Humanoid robots are similar in dimension and degrees of freedom to humans. Compared with other types of robots, humanoid robots are more adaptable to complex living environment and various tools of humans. The combination of wheeled robot and humanoid robot is an effective way to increase the moving speed, range of motion and environmental adaptability of humanoid robots, which can accelerate the application of humanoid robots in human living environments. In this way, the use of humanoid robots in industry and services can be effectively improved. This article introduces a novel electrically-driven wheel-legged humanoid robot BHR-W with 14 degrees of freedom. It can use wheels to achieve rapid motion on structured pavement. In addition, BHR-W has two degrees of freedom of hip joint, giving it excellent ability to perform complex actions such as walking, jumping and roller skating to cross unstructured environments. BHR-W is an innovative design which enables humanoid robots to have capabilities of bipedal walking and wheel rolling. This article introduces the mechanical and system design of the robot, and designs a controller for balance control. Finally, the stability and reliability of the system and the feasibility of the balance control strategies are verified by several practical experiments.",
keywords = "balance control, humanoid robot, system design, wheel-legged robot",
author = "Lingxuan Zhao and Zhangguo Yu and Xuechao Chen and Gao Huang and Weiwei Wang and Lianqiang Han and Xuejian Qiu and Xiaochen Zhang and Qiang Huang",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 IEEE International Conference on Unmanned Systems, ICUS 2021 ; Conference date: 15-10-2021 Through 17-10-2021",
year = "2021",
doi = "10.1109/ICUS52573.2021.9641385",
language = "English",
series = "Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "742--747",
booktitle = "Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021",
address = "United States",
}