Design and Simulation of Two-Wheel Balancing Robots

This paper addresses the limitations of current unmanned delivery vehicles in complex environments and harsh conditions such as disaster relief operations. By integrating the advantages of wheel-legged robots, this study proposes a modular, lightweight, and reconfigurable design to enhance adaptability in heterogeneous terrains. The modular approach facilitates maintenance and interchangeability in complex scenarios, while the lightweight, reconfigurable design improves traversability. Multi-vehicle collaborative operations expand payload capacity and functional versatility, offering a more efficient solution for logistics. For motion control, this research implements LQR algorithms and TMSLIP models to achieve basic motion control. D'Alembert's principle is utilized for joint action mapping, complemented by a velocity and acceleration-based strategy for jump phase switching. These approaches provide theoretical support for the wheel-legged robot's fundamental movements and jumping actions. Experimental results demonstrate the prototype's excellent performance in balance stability and jumping motions, validating the effectiveness of the proposed motion control strategies and jump planning methods. This study confirms the reliability and efficacy of wheel-legged robots in practical applications, particularly in challenging environments.