双轮腿机器人动态平衡控制OA

Two wheel-legged robots can be used for small-scale transportation and exploration tasks in complex and unknown environments.An excellent balance controller is the key to undertaking complex tasks.This paper proposes a dynamic balance control scheme for a parallel wheel-legged robot.Firstly,the model of two wheel-legged robots is established and the virtual model control algorithm is used to simplify the leg structure of the robot.For the design of the balance controller,it is completed based on the linear quadratic regulator when there is a deviation in the angle of two legs.The main innovation is that the designed controller takes into account the deviation in the angle of legs,which solves the problem of balance control in complex environments.It ensures the robustness of the system and reduces the amount of calculation and design difficulty.Finally,the feasibility of the scheme is verified through experiments in non-ideal simulation and actual environments.