哈尔滨工业大学学报（英文版）2006，Vol.13Issue(1)：43-47,5.
Study of dynamic stable control for a leg-wheeled robot
Study of dynamic stable control for a leg-wheeled robot
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作者信息
- 1. School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200030, Chian;School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200030, Chian;School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200030, Chian;School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200030, Chian
- 折叠
摘要
Abstract
In order to realize the dynamic stable motion control for a leg-wheeled robot, this paper presents a layered control architecture. It is composed of three levels, i.e. the supervisor level, coordinator level and leg level. The supervisor level is for the task definition and planning, while the coordinator level does the dynamic stable control and the leg level executes the real-time control command. First, we build the efficient NewtonEuler dynamics equations of the robot. Then, the stability control is realized by properly distributing ground reaction forces applied by the legs. We also use Simplex method to optimize the ground reaction force distribution and verify the control method by experimental and numerical results.关键词
leg-wheeled robot/dynamic stable/motion control/newton-euler methodKey words
leg-wheeled robot/dynamic stable/motion control/newton-euler method分类
信息技术与安全科学引用本文复制引用
..Study of dynamic stable control for a leg-wheeled robot[J].哈尔滨工业大学学报（英文版）,2006,13(1):43-47,5.
