Control of Dynamic Locomotion for the Hybrid Wheel-Legged Mobile Robot by using Unstable-Zeros Cancellation

In this paper, a new method of center of mass trajectory planning using the zero-phase low pass filter is proposed. This method is based on a table-cart model which simply describes the relationship between center of mass and zero moment point. Generally, zero moment point should be controlled to realize dynamic motion. This method can easily generate the center of mass trajectory which realizes the desired zero moment point. In our study, this method is applied to wheel-legged locomotion. We will show the result that zero moment point can be sufficiently controlled even if quadruped wheel-legged mobile robot is approximated to a table-cart model. The effectiveness of the idea is validated by simulation and experiment.