High mobility control for a wheel-legged mobile robot based on resolved momentum control

This paper deals with realization of both rapidity and stabilities for four-wheel-legged locomotion. To achieve these aims, two control approaches are proposed. First, we show the kinematic modeling of constraint for wheel-legged mechanism to achieve the three-dimensional locomotion. Then, the proposed constraint is applied to the resolved momentum control. This method realizes the dynamic locomotion by considering the center of mass and angular momentum directly affecting the stability of dynamic locomotion. Second, a trajectory generating method by using zero-phase low pass filter based on a cart-table model is applied. These schemes can control the robot by stabilizing the zero moment point which is the criteria of dynamic locomotion. In this paper, we focus on the realization of fast and stable wheeled locomotion. Finally, the effect of proposed methods is confirmed by simulations and experiments.