Design and Control of Multi-mode Wheeled-Bipedal Robot with Parallel Mechanism

• Published in: 2023 International Conference on Communications, Computing and Artificial Intelligence (CCCAI) pp. 69 - 74
• Main Authors: Yang, Zeyi, Bian, Zekun, Zhang, Wei
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.06.2023
• Subjects: balancing control; Design methodology; Energy efficiency; Hardware; Legged locomotion; multimode robot; robot system design; Switches; Telecommunication computing; wheeled-bipedal robot; Wheels

Wheeled-bipedal robot is a kind of mobile robot to combine the advantages of wheeled and legged locomotion. However, existing wheeled bipedal robots often require effort to overcome gravity while they do not need to maintain a standing position all the time. Therefore, we design a multimode motor-dr...