LQR-based Balance Control of Two-wheeled Legged Robot

Recently, the research of wheel-legged robot (WLR) has become a hot spot. WLR has fast speed, high efficiency and strong adaptability to terrain, which makes full use of the advantages of wheeled robots and leg robots. This paper presents a successful case of balance control applied to an actual WLR platform. The mechanical structure is firstly introduced in this paper. Subsequently, the simplified dynamic model of the robot is described. Based on the linear quadratic regulator (LQR), the balance controller is constructed according to the established dynamic equation. Both simulation and experiments are carried out, which sufficiently demonstrate the efficiency of the designed LQR controller.