Series-Wheeled Legged Control System Design and Implementation
Abstract
This post describes the design and implementation of a 3-DOF wheeled-leg robot chassis, integrating wheeled and legged movement for enhanced mobility.
i System Design
- Designed a 3-DOF wheeled-leg robot chassis, integrating wheeled locomotion with legged movement to enhance mobility and adaptability across diverse terrains.
ii Control Algorithm
- Implemented a high-stability control algorithm leveraging a Kalman fusion observer for real-time state estimation and sensor data integration.
- Adopted a hybrid control approach combining Linear Quadratic Regulator (LQR) for optimal trajectory control and Proportional-Integral-Derivative (PID) controllers for precise motion adjustments.
iii Embedded System Development
- Developed an embedded system to execute the control algorithm, enabling seamless coordination between the robot’s wheels and legs.
iv Experimental Validation
- Conducted tests to validate the stability, precision, and adaptability of the control system under various operational scenarios, ensuring optimal performance across complex environments.
V Pictures
- i.
- i.
For more information about this theme, you can search the repository.