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To integrate the uneven terrain adaptivity of legged robots and the fast capacity of wheeled robots on even terrains, a four wheel-legged robot is addressed and the cooperative control strategy of wheels and legs based on attitude balance is investigated. Firstly, the kinematics of wheel-legged robot is analyzed, which contains the legged and wheeled motion modal. Secondly, the cooperative control strategy of wheel-legged robot based on attitude balance is proposed. The attitude is calculated by using the quaternion method and complementary filtering, and the attitude stability control of the wheel-legged robot is studied. The trajectory planning of leg motion including walk and trot gait is implemented, and the differential control of wheeled motion is deduced. And then, the cooperative motion control of wheels and legs is achieved by keeping the attitude balance of robot body. Finally, a small prototype is set up to validate the feasibility and effectiveness of proposed method. The experimental results show that the established wheel-legged robot can do walk, trot, and wheel-leg compound motion to overcome many complex terrains and environments.
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