Configuration Transformation of the Wheel-Legged Robot Using Inverse Dynamics Control
Haitao Zhou,Haoyang Yu,Xu Li,Haibo Feng,Songyuan Zhang,Yili Fu,Haitao Zhou,Haoyang Yu,Xu Li,Haibo Feng,Songyuan Zhang,Yili Fu
In this paper, the configuration transformation of Wheel-Legged Robot (WLR) is studied, which can enable the robot to change its multilinks configuration on Inverted Equilibrium Manifold (IEM), while keeping balance with a small location drift on the floor. First of all, the general form of dynamics equation of planar Articulated Wheeled Inverted Pendulum (AWIP) with a wheel and n − 1 rigid links,...
