Control for balance of Legged-Wheel Hybrid Robot (LWHR) by regulating ground reaction force with kinematic coupling

This paper is concerned with a novel control method for a legged-wheel hybrid robot(LWHR). We first derive a contact map from ground reaction forces(GRF) to linear and angular forces on center of mass(CoM). To resolve the lack of rank condition of the contact map due to an existance of reciprocal ax...

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Bibliographic Details
Published in2018 IEEE International Conference on Mechatronics and Automation (ICMA) pp. 1263 - 1268
Main Authors SeungJae Yoo, YongHwan Oh
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2018
Subjects
Contact map
Force
Jacobian matrices
Legged locomotion
Legged-wheel robot
Mathematical model
Momentum conservation control
Multi-contact balancing
Wheels
Whole-body control
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Summary:This paper is concerned with a novel control method for a legged-wheel hybrid robot(LWHR). We first derive a contact map from ground reaction forces(GRF) to linear and angular forces on center of mass(CoM). To resolve the lack of rank condition of the contact map due to an existance of reciprocal axis, each of the GRF at the contact points are regulated by a reformed linear invertible contact map while remained forces on the CoM are handled by the kinematic coupling on the conservation of momentum. It would be worthly to remark that there are no singular cases because the reformed contact map has full rank condition kinematically as long as the constraint of each wheels is active. As a result, by this method, we can fully manage all forces on the CoM by which the balance control is accomplished. Finally, we demonstrate the effectiveness of the methods through some simulation results.
ISBN:1538660741
9781538660744
ISSN:2152-744X
DOI:10.1109/ICMA.2018.8484594