Posture coupled optimization control of wheel-legged robot

When wheel-legged mobile robots moved in uneven terrains, three basic non-isolated control problems such as stability control, drive traction control, and posture control were produced. Herein kinematic model with wheel-legged mode was established firstly, which was suitable to describe the robot posture. Then stability and traction functions were addressed. In order to have good adaptability, high maneuverability of negotiation and high locomotion security, coupled optimization function was built and coupled optimization control was realized based on the comprehensive analyses of the stability and traction characteristics, which could supply the coupled optimization criteria for stability and traction, and realize the posture optimization control of the robots. The effectiveness of the method was confirmed by experiments.