Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-New research on Robotics is the subjec t of a report.According to news reporting originating in Jinan,People's Republ ic of China,by NewsRx journalists,research stated,"To improve the adaptabilit y of the wheeled biped robot (WBR) to uneven terrain,firstly an integrated mode ling method for wheeled-legs is proposed.The under-actuated part is effectively restrained by defining the interaction force between the WBR and the trunk." Funders for this research include National Natural Science Foundation of China ( NSFC),National Key Research and Development Program of China.The news reporters obtained a quote from the research from Shandong Jiaotong Uni versity,"The mapping relationship between the wheeled leg's end force and the j oint torques in the balanced state is built.Based on this premise,a control fr amework that does not rely on external sensors is proposed,and the trunk pose i s used as the task space to plan the generalized force output of the wheeled leg s and calculate the joint torques.Since the joint space position is not constra ined,the leg wheels will be based on the terrain conditions and are adaptively stretched and adjusted back and forth.To further improve the terrain adaptabili ty,a slope estimator and a stabilizer are constructed to deal with the attitude fluctuation caused by the sudden change of terrain."
NETL
NSTL