Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Researchers detail new data in Robotic s. According to news reporting from Hangzhou, People's Republic of China, by New sRx journalists, research stated, "In this letter, we propose a model predictive control (MPC)-based robot pose controller for our newly designed wheeled bipeda l robot (WBR). The proposed controller uses the virtual model control concept, a llowing for wider applicability by ignoring the leg dynamics." Financial support for this research came from National Natural Science Foundatio n of China (NSFC). The news correspondents obtained a quote from the research from Zhejiang Univers ity, "By directly incorporating the non-holonomic constraint of the wheels into the dynamic equation, a wheeled rigid dynamic model is proposed to maximize the motion flexibility and minimize the model order. A hierarchical MPC control stru cture is employed to track the desired pose while considering the non-minimal ph ase property of WBRs in real time. To enhance the autonomy of the robot, we prop ose a state estimator that utilizes kinematics and inertial sensor data to provi de a high-speed and accurate estimation of the robot's state. Both simulation an d real-world experiments demonstrate that the proposed method can track a pose t rajectory with lower error than traditional feedback control methods."
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