Research on wheel-leg balancing robot based on cascade PID algorithm

This paper studies a wheel-leg balance robot based on cascade PID algorithm. Firstly, the design background of the wheel-leg balance robot is introduced, which combines the advantages of both wheeled and legged robots. Then, the structural design of the robot is described, including the four-bar linkage mechanism used in the legs and the overall structural layout. Next, the control hardware design of the balance robot is presented, which employs dual DC brushless motors and dual servos as actuators, and two STM32F103 MCUs are selected to handle the FOC algorithm and the cascade PID algorithm respectively. The principle of the cascade PID control algorithm and its specific application on the robot are elaborated in detail. Field tests with the physical prototype show that this algorithm effectively improves the motion stability of the robot. Finally, the paper explores the possibility of extending this algorithm to more complex tasks, providing ideas for subsequent research and development.