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Zero-moment point based balance control of leg-wheel hybrid structures with inequality constraints of kinodynamic behavior

This paper discusses a balance control method with kinodynamic constraints for leg-wheel hybrid structures in an effort to improve the mobility of locomotion over hard, flat surfaces. Preliminarily, we defined a prioritized Jacobian and a prioritized inverse of Jacobian to formulate the dynamically decoupled model in the task space for the constrained multi-contact multi-rigid-body system with a floating base. Our strategy has two tracks to accommodate the uncertainty and the complexity of the system dynamics. 1) The time-delay estimation and control are combined with the nonlinear programming. 2) Whole kinodynamic constraints are derived as functions of the control input. The proposed balance control algorithm allows the system to traverse desired trajectories satisfying the kinodynamic constraints and improves the mobility of locomotion. The effectiveness of the algorithm is tested with the dynamic simulations.