Self Balancing Performance of Wheel-legged Robots under Disturbance and Faulty Conditions

This study investigates the self-balancing performance of a bipedal wheel-legged robot under a range of disturbances and faulty conditions. The disturbances include external kicks, additional weight loads, wind forces, trailer carrying, and collisions. Additionally, the paper evaluates the robot’s resilience under various working and fault conditions including balancing on soft and rotatable surfaces and working with wheel malfunctions. The cascaded PID and adaptive control method are employed for the robot’s balance and movement. Comprehensive simulation and experimental results demonstrate the effectiveness and robustness of the wheel-legged robot control.