Stability analysis and control for a wheel-legged robot

This paper introduces a novel robot with six wheel-legs. The robot is a combination of two frames, two rear wheel-legs and four front wheel-legs with 7 DOF (degree of freedom). In order to analyze the stability of the robot, kinematic model of the robot is established. Stability pyramid technique is applied as the theoretical criterion of the system. Based on the criterion, stability algorithm rules and control strategy are designed to keep the stability of the robot. In order to prove the accuracy of the control system, two types of slope on the roads are applied in the simulation under the ADAMS/MATLAB environment. Stability criterion value, trim angles and roll angles of the robot are obtained through the simulation. The final result shows that through the control system the average stability criterion values are 38.13 which is increased 22.02% compared with that without control on the longitudinal slope, and 35.59 which is increased 6.5% compared with that without control on the side slope. It is clear that the stability criterion value have changed gently after stability control. © 2018 Politechnica University of Bucharest. All rights reserved.