Optimization of Wheel Position for the Leg/Wheel Robots using Model Predictive Control considering Supporting Area and Center of Gravity

Abstract

In this study, we realize optimization of wheel position which prevents falling over for the leg/wheel robots. The prevention of falling over is realized by minimizing a performance index using model predictive control (MPC). The performance index is maximizing the area of a supporting leg polygon and realizing the center of gravity (CoG) position which prevents falling over. In this paper, we show the effectiveness through simulation.