Research and MATLAB Simulation for the Locomotion Control Method of the Tandem Wheel-Legged Robot

In the field of robotics research involving mechatronics and advanced control technology, four-link tandem wheel-legged robots frequently face control instability issues. This study proposes a control strategy that combines LQR (Linear Quadratic Regulator) real-time feedback with VMC (Virtual Model Control) system mapping. The system dynamics model is established using the Newton-Euler method, then simplified and transformed into an inverted-pendulum model. The LQR algorithm is employed to control the simplified system, while VMC is utilized to map the leg virtual torque to the hip-joint motor output torque. MATLAB/Simulink simulations demonstrate the high adaptability of the model in complex environments and its practical application potential.