COM Adjustment Mechanism Control for Multi-Configuration Motion Stability of Unmanned Deformable Vehicle
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arXiv
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| Autori principali: | , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866909624975753216 |
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| author | Liu, Jun Liu, Hongxun Zhang, Cheng Xing, Jiandang Jiang, Shang Jiang, Ping |
| author_facet | Liu, Jun Liu, Hongxun Zhang, Cheng Xing, Jiandang Jiang, Shang Jiang, Ping |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_20926 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | COM Adjustment Mechanism Control for Multi-Configuration Motion Stability of Unmanned Deformable Vehicle Liu, Jun Liu, Hongxun Zhang, Cheng Xing, Jiandang Jiang, Shang Jiang, Ping Robotics Systems and Control 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. |
| title | COM Adjustment Mechanism Control for Multi-Configuration Motion Stability of Unmanned Deformable Vehicle |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2505.20926 |