Kinematics-Based Vibration Control of a Wheeled Quadruped Robot Traversing Speed Bumps

The Wheeled Quadruped Robot (WQR) combines the advantages of wheeled and legged mobility, garnering attention for its superior agility and stability in challenging environments. However, smoothly navigating uneven and complex terrains remains a significant challenge. This study introduces a novel kinematics-based control strategy for crossing parallel and staggered speed bumps, leveraging data from an Inertial Measurement Unit (IMU) and in-wheel contact sensors to enhance stability and mitigate vibrations. Our approach incorporates an advanced vibration control method that precisely adjusts the angles of the WQR's hip and knee joints in real-time, based on feedback from the IMU's pitch angle and the contact states of the in-wheel contact sensors. By continuously monitoring and adjusting the WQR’s posture, we achieve a significant reduction in vibration amplitude during speed bumps traversal, thereby enhancing both driving comfort and overall stability. Extensive simulations have validated the effectiveness of our method, demonstrating a notable decrease in vibration amplitude. This advancement facilitates the deployment of WQRs in harsh terrains, ensuring more reliable, efficient, and comfortable operation. By tackling the challenges of navigating complex environments, our research propels the development of WQRs for a wide range of applications.