Autonomous Control of An Electric Wheel-foot Robotic System based on Stewart Structure *

摘要

This work approaches the control problem of wheel, foot and wheel-foot combined motion and driven of an electric wheel-foot robot based on the stewart structure. The autonomous control method is designed and the functions of each link are elaborated. The cooperative control of four wheels driven independently is studied to realize flexible wheel motion. The airframe smoothing control algorithm is studied to ensure the stability of the body during moving. The experimental results show that the electric parallel wheeled robot combines the advantages of wheel and foot motion. At the same time, it fully utilizes the multi-degree-of-freedom driving capability of the wheel-foot composite robot, which reflects the comprehensive advantages of motion.