Single-side obstacle crossing control method for double-wheel-foot robot

The invention provides a single-side obstacle crossing control method for a double-wheel-foot robot. The single-side obstacle crossing control method is used for solving the problem that the single-side obstacle crossing control mode of the double-wheel-foot robot is complex due to a complex modeling mode. The method comprises the following steps: firstly, establishing a double-wheel-foot simplified dynamical model containing six state variables including a robot virtual leg attitude angle, a virtual leg attitude angular velocity, a machine body yaw attitude angle, a machine body yaw attitude angular velocity, a machine body forward displacement and a machine body forward linear velocity, and carrying out linearization and discretization processing; secondly, polynomial interpolation of state feedback matrix elements is conducted according to the discrete virtual leg length, a Kalman filter is adopted to achieve state observation, a linear quadratic regulator is utilized to conduct full-state feedback, state