Motion Control Methods for Dual Wheel-Legged Robot

The dual-wheel-legged robot combines the efficiency of wheeled mobility with the obstacle-crossing capability of a legged structure, offering significant advantages in unstable terrain. However, dynamic balance control of the dual-wheel-legged robot on highly unstructured terrain remains a significant challenge. This paper analyzes a five-bar linkage mechanism and introduces virtual model control (VMC) to decouple the robot into two components: body balance motion and leg motion. Design a linear quadratic regulator (LQR) for real-time control of balance control based on leg length division of the robot's state space. When facing external interference, use Linear Active Disturbance Rejection Control (ADRC) technology to control the robot's legs. Compare and simulate it with the method of PID control of robot legs. The simulation results show that the control methods based on LQR and ADRC enable the robot to successfully navigate obstacles, and the error of attitude angle and leg length are smaller than that of the control methods based on LQR and PID.