Design and Control of a Bio-Inspired Wheeled Bipedal Robot

Wheeled bipedal robots (WBRs) have the capability to execute agile and versatile locomotion tasks. This article focuses on improving the dynamic performance of WBRs through innovations in both hardware and software development. Inspired by the human barbell squat, a bionic mechanical design is propo...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2024-09, p.1-12
Hauptverfasser:	Zhao, Haizhou, Yu, Lei, Qin, Siying, Jin, Gumin, Chen, Yuqing
Format:	Artikel
Sprache:	eng
Schlagworte:	Biological system modeling Control Lyapunov function (CLF) Hip Knee Legged locomotion mechanism design Motors Torque wheeled bipedal robots (WBRs) Wheels whole body control
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