Two-wheeled Power-assist Trailer Payload Based on Force Control

被引：0
作者：
Mu L. [1 ,2 ]
Zhao X. [1 ,2 ]
Xu P. [1 ,2 ]
Qiu T. [1 ,2 ]
Jiang L. [1 ,2 ]
机构：
[1] China North Artificial Intelligence & Innovation Research Institute, Beijing
[2] Collective Intelligence & Collaboration Laboratory, Beijing
来源：
Binggong Xuebao/Acta Armamentarii | 2023年 / 44卷
关键词：
dynamic simulation; force control; power-assist; two-wheeled trailer payload;
D O I：
10.12382/bgxb.2023.0898
中图分类号：
学科分类号：
摘要：
A configuration of a two-wheeled power-assist trailer payload, which is towed by a quadruped bionic robot,is proposed to enhance the transportation capacity of quadruped bionic robots. This design enables increased transportation capacity while maintaining overall flexibility, maneuverability, and off-road capabilities. The kinematics and dynamics characteristics of the two-wheeled power-assist trailer payload is analyzed, a dynamic simulation model is developed, and a force-based assist control algorithm is proposed. A physical prototype of two-wheeled trailer payload is designed based on the proposed algorithm,and utilized for algorithm verification. The result shows that the two-wheeled power-assist trailer payload can effectively respond to the motion state of quadruped bionic robot under full load and exhibits significant off-road capability, thereby greatly expanding its transportation capacity. © 2023 China Ordnance Industry Corporation. All rights reserved.
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页码：62 / 70
页数：8
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