| Author: | Huang, Han |
| Title: | System design and motion experiment of a two-wheeled legged robot |
| Advisors: | Niu, Shuangxia (EEE) |
| Degree: | M.Sc. |
| Year: | 2025 |
| Department: | Department of Electrical and Electronic Engineering |
| Pages: | viii, 66 pages : color illustrations |
| Language: | English |
| Abstract: | With the innovation of science and technology and the continuous development of social productivity, robots have been used more and more widely in industrial production. While improving industrial production efficiency, they have also liberated people from repetitive and boring assembly line work. However, due to factors such as control algorithms and mechanical structures, most robots have poor terrain adaptability, and their use scenarios are limited to indoor or outdoor flat road environments. They cannot complete tasks such as indoor and outdoor cruising and complex terrain exploration. The main goal of this paper is to design a robot system with good terrain adaptability. The outer frame of the robot is obtained through mechanical modeling, and the control components of the robot are obtained through electrical design. Then, the dynamic model of the wheeled bipedal robot is constructed by simplified analysis, and the motion controller of the robot is designed using the PID algorithm. Combined with the posture estimation obtained by multi-sensor data fusion, the high-precision motion control of the wheeled bipedal robot is realized. The correctness of the model and the effectiveness of the controller are verified through various experiments, and the good terrain adaptability of the wheeled bipedal robot is proved. |
| Rights: | All rights reserved |
| Access: | restricted access |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 8479.pdf | For All Users (off-campus access for PolyU Staff & Students only) | 4.47 MB | Adobe PDF | View/Open |
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