Attitude Balance Control of a Wheeled Quadruped Robot for Unilateral Obstacle Scenarios

This study explores an attitude balance control method for a Wheeled Quadruped Robot (WQR) traversing unilateral obstacle scenarios with varying slopes. By incorporating a force feedback mechanism, this method enables real-time adjustment of the WQR's hip and knee joint angles based on the kinematics model, facilitating effective navigation across different inclines of unilateral obstacles. The research begins with an analysis of potential attitude imbalance issues that the WQR may encounter when facing unilateral obstacles, highlighting the essential role of force sensors in detecting ground reaction forces and providing feedback. Subsequently, an attitude balance control algorithm is designed, based on feedback from in-wheel force sensors, which adjusts the WQR's motion posture in real-time to ensure stability in such scenarios. Simulation results have validated the effectiveness and robustness of the proposed method, demonstrating that by utilizing feedback information from in-wheel force sensors, the WQR can accurately perceive obstacles and make corresponding adjustments, thereby effectively preventing attitude imbalances. This research not only supports the stable movement of WQRs in complex environments but also provides valuable insights for future research in the field of robot attitude control.