Study of dynamic stable control for a leg-wheeled robot

In order to realize the dynamic stable motion control for a leg-wheeled robot, this paper presents a layered control architecture. It is composed of three levels, i.e. the supervisor level, coordinator level and leg level. The supervisor level is for the task definition and planning, while the coordinator level does the dynamic stable control and the leg level executes the real-time control command. First, we build the efficient Newton-Euler dynamics equations of the robot. Then, the stability control is realized by properly distributing ground reaction forces applied by the legs. We also use Simplex method to optimize the ground reaction force distribution and verify the control method by experimental and numerical results.