Head Stabilization for Wheeled Bipedal Robots via Force-Estimation-Based Admittance Control
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arXiv
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| Autori principali: | , , , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| Soggetti: | |
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| _version_ | 1866908671275958272 |
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| author | Wang, Tianyu Yan, Chunxiang Liao, Xuanhong Zhang, Tao Wang, Ping Wen, Cong Liu, Dingchuan Yu, Haowen Lyu, Ximin |
| author_facet | Wang, Tianyu Yan, Chunxiang Liao, Xuanhong Zhang, Tao Wang, Ping Wen, Cong Liu, Dingchuan Yu, Haowen Lyu, Ximin |
| contents | Wheeled bipedal robots are emerging as flexible platforms for field exploration. However, head instability induced by uneven terrain can degrade the accuracy of onboard sensors or damage fragile payloads. Existing research primarily focuses on stabilizing the mobile platform but overlooks active stabilization of the head in the world frame, resulting in vertical oscillations that undermine overall stability. To address this challenge, we developed a model-based ground force estimation method for our 6-degree-of-freedom wheeled bipedal robot. Leveraging these force estimates, we implemented an admittance control algorithm to enhance terrain adaptability. Simulation experiments validated the real-time performance of the force estimator and the robot's robustness when traversing uneven terrain. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_18712 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Head Stabilization for Wheeled Bipedal Robots via Force-Estimation-Based Admittance Control Wang, Tianyu Yan, Chunxiang Liao, Xuanhong Zhang, Tao Wang, Ping Wen, Cong Liu, Dingchuan Yu, Haowen Lyu, Ximin Robotics Wheeled bipedal robots are emerging as flexible platforms for field exploration. However, head instability induced by uneven terrain can degrade the accuracy of onboard sensors or damage fragile payloads. Existing research primarily focuses on stabilizing the mobile platform but overlooks active stabilization of the head in the world frame, resulting in vertical oscillations that undermine overall stability. To address this challenge, we developed a model-based ground force estimation method for our 6-degree-of-freedom wheeled bipedal robot. Leveraging these force estimates, we implemented an admittance control algorithm to enhance terrain adaptability. Simulation experiments validated the real-time performance of the force estimator and the robot's robustness when traversing uneven terrain. |
| title | Head Stabilization for Wheeled Bipedal Robots via Force-Estimation-Based Admittance Control |
| topic | Robotics |
| url | https://arxiv.org/abs/2511.18712 |