Balance Control of a Wheeled Hopping Robot

摘要

The objective of this paper is to control a wheeled hopping robot. The balance of the wheeled hopping robot is so important whether in the forward mode or hopping mode. In this paper, we firstly introduced our designed wheeled hopping robot including the mechanical design and the drive components. A set of gear transmission system and cable structure are used for the forward mode and the hopping mode switch. Differing from the traditional inverted pendulum model, the dynamical model of this wheeled hopping robot is changing due to the torsional spring, so the equivalent length of the model is not a constant. Meanwhile, the elastic element made the robot less stable than an inverted two-wheel robot. We adopted different closed-loop control algorithms to solve the problems in upright, speed and turning control. Finally, the experimental results were shown in this paper.