COM Adjustment Mechanism Control for Multi-Configuration Motion Stability of Unmanned Deformable Vehicle

TL;DR

This paper presents a control mechanism for an unmanned deformable vehicle that transforms between vehicular and humanoid states, enhancing motion stability through a novel center-of-mass adjustment and hierarchical control strategy.

Contribution

It introduces a new center-of-mass adjustment mechanism and a hierarchical control algorithm for multi-configuration stability in deformable vehicles.

Findings

Improved steering stability in vehicular mode.

Enhanced walking stability in humanoid mode.

Effective control of slider motion improves overall stability.

Abstract

An unmanned deformable vehicle is a wheel-legged robot transforming between two configurations: vehicular and humanoid states, with different motion modes and stability characteristics. To address motion stability in multiple configurations, a center-of-mass adjustment mechanism was designed. Further, a motion stability hierarchical control algorithm was proposed, and an electromechanical model based on a two-degree-of-freedom center-of-mass adjustment mechanism was established. An unmanned-deformable-vehicle vehicular-state steady-state steering dynamics model and a gait planning kinematic model of humanoid state walking were established. A stability hierarchical control strategy was designed to realize the stability control. The results showed that the steady-state steering stability in vehicular state and the walking stability in humanoid state could be significantly improved by controlling the slider motion.