Adaptive Attitude Control of Wheel-legged Mobile Platform Based on Feedforward Compensation

被引：0
作者：
Liu H. [1 ,2 ]
Liu B. [1 ]
Liao D. [1 ]
Han L. [1 ,2 ]
Cui S. [2 ]
机构：
[1] School of Mechanical Engineering, Beijing Institute of Technology, Beijing
[2] Advanced Technology Research Institute (Jinan), Beijing Institute of Technology, Shandong, Jinan
来源：
Binggong Xuebao/Acta Armamentarii | 2023年 / 44卷 / 09期
关键词：
attitude control; feedforward compensation; real-time estimation; wheel-ground contact; wheel-legged mobile platform;
D O I：
10.12382/bgxb.2022.1103
中图分类号：
学科分类号：
摘要：
When passing through complex obstacles, a wheel-legged mobile platform bears a relatively large load on the wheel end, and the external force acting on the tire from the ground undergoes sudden changes. This significantly reduces the precision of the platform's attitude control and can lead to tire instability and loss of contact with the ground. To improve the terrain adaptation and stability, an adaptive attitude control strategy for the platform based on feedforward compensation is proposed. Considering the vertical support force and longitudinal driving force at the wheel-ground contact point, the inverse kinematic model and dynamic model of the platform are constructed. And the real-time estimation of the wheel-ground contact state is achieved, and the leg height observer and wheel-ground contact state are combined to perform feedforward compensation to adjust the leg's vertical height, balancing the platform's wheel motion stability and adaptive attitude control accuracy. Furthermore, considering the momentum and angular momentum of the platform, the virtual driving force at the wheel end is optimized by the quadratic programming algorithm to solve the feedforward compensation torque and thus enable the precise control of platform motion. The simulation results show that the proposed method can improve the adaptive attitude control accuracy and tire driving stability of the wheeled-legged mobile platform, laying the foundation for its performing reconnaissance and other tasks in complex working conditions. © 2023 China Ordnance Society. All rights reserved.
引用
收藏
页码：2756 / 2767
页数：11
相关论文
共 20 条
  • [1] NI L W, MA F W, GE L H, Et al., Design and posture control of a wheel-legged robot with actively passively transformable suspension system, Journal of Mechanisms and Robotics: Transactions of the ASME, 13, 1, pp. 1-10, (2021)
  • [2] BJELONIC M, SANKAR P K, BELLICOSO C D, Et al., Rolling in the deep-hybrid locomotion for wheeled-legged robots using online trajectory optimization, IEEE Robotics and Automation Letters, 5, 2, pp. 3626-3633, (2020)
  • [3] LIU H, LIU B S, HAN Z Y, Et al., Attitude control strategy for unmanned wheel-legged hybrid vehicles considering the contact of the wheels and ground [ J ], Proceedings of the Institution of Mechanical Engineers, Part D:Journal of Automobile Engineering, 236, 10, pp. 2294-2305, (2022)
  • [4] BJELONIC M, GRANDIA R, HARLEY O, Et al., Whole-body MPC and online gait sequence generation for wheeled-legged robots, Proceedings of IEEE/ RSJ International Conference on Intelligent Robots and Systems, pp. 8388-8395, (2021)
  • [5] KLEMM V, MORRA A, GULICH L, Et al., LQR-assisted whole-body control of a wheeled bipedal robot with kinematic loops, IEEE Robotics and Automation Letters, 5, 2, pp. 3745-3752, (2020)
  • [6] LIU D C, WANG J Z, WANG S K, Et al., Omnidirectionalgait switching method of electric parallel wheel-foot robot based on velocity vector, Journal of Mechanical Engineering, 55, 1, pp. 17-24, (2019)
  • [7] QU M K, WANG H B, RONG Y., Design of military wheel-leg hybrid quadruped robot [ J], Acta Armamentarii, 39, 4, pp. 787-797, (2018)
  • [8] JIANG Y, WANG T, SHAO P Y, Et al., Gaitstudy and obstacle-surmounting performance analysis of a wheel-leg hybrid robot, Acta Armamentarii, 44, 1, pp. 247-259, (2023)
  • [9] GRAND C, BENAMAR F, PLUMET F, Et al., Decoupled control of posture and trajectory of the hybrid wheel-legged robot Hylos [ C ], Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1050-4729, (2004)
  • [10] DU W Q, FNADI M, BENAMAR F., Rolling based locomotion on rough terrain for a wheeled quadruped using centroidal dynamics, Mechanism and Machine Theory, 153, (2020)
12