Model Predictive Load Distribution Control for Leg/Wheel Mobile Robots on Rough Terrain

Abstract

Leg/wheel mobile robots have a hybrid mechanism combining legs and wheels. Those robots are expected as a transporter in an extraterrestrial environment because leg/wheel mechanisms have the potential to move on rough terrain efficiently. A controller is required adapting to the complex geometry of the ground. This paper presents a leg configuration control based on model predictive control considering load distribution using the state equation which includes steering. Numerical simulations are conducted to verify the advantage of the proposed method. The robot successfully moves on the slope with a bank angle while improving the load distribution.