Abstract
This paper presents three algorithms to control the motion of wheeleg robot in unknown rough terrains. First, on the basis of the wheeleg robot, we establish the plane geometry model. By this way, we can easily derive the kinematics and dynamics equations. Based on these equations, we design the control strategy, include three algorithms: posture control, force compensation control and force control. We lay emphasis on researching force control. Then, dynamic simulation of the wheeleg robot is performed in unknown rough terrains to verify the proposed algorithms. Finally, analysing and comparing the three algorithms, and drawing the conclusion.
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