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This paper presents a study on the kinematic and dynamic modeling, as well as the controller design, of a wheeled biped robot with a parallel five-bar linkage mechanism as its leg module. During the motion of the robot, the robot relies on the tilt angle of the inverted pendulum, and this angle often results in the tilting of the chassis of the robot, presenting challenges for the installation of upper-body payloads and sensor systems. The controller proposed in this paper, which is developed by decoupling the primary motions of the robot and designing a multi-objective, multilevel controller, addresses this issue. This controller employs the pendulum pitch angle of the equivalent inverted pendulum model as the control variable and compensates for the chassis tilt angle (CTA). This control method can effectively reduce the CTA of such robots and eliminate the need for additional counterweights. It also provides a more spacious structural design for accommodating upper-body devices. The effectiveness of this control framework is verified through variable height control, walking on flat ground, and carrying loads over rough terrain and slopes.<\/jats:p>","DOI":"10.1017\/s0263574724001061","type":"journal-article","created":{"date-parts":[[2024,10,2]],"date-time":"2024-10-02T06:41:16Z","timestamp":1727851276000},"page":"2713-2741","source":"Crossref","is-referenced-by-count":10,"title":["Dynamic modeling of wheeled biped robot and controller design for reducing chassis tilt angle"],"prefix":"10.1017","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-7114-4368","authenticated-orcid":false,"given":"Nan","family":"Mao","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junpeng","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Emmanouil","family":"Spyrakos-Papastavridis","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jian S.","family":"Dai","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2024,10,2]]},"reference":[{"key":"S0263574724001061_ref47","doi-asserted-by":"publisher","DOI":"10.3390\/s23052489"},{"key":"S0263574724001061_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2017138"},{"key":"S0263574724001061_ref26","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2022.105018"},{"key":"S0263574724001061_ref36","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3047787"},{"key":"S0263574724001061_ref18","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843611002538"},{"key":"S0263574724001061_ref23","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2017.10.012"},{"key":"S0263574724001061_ref37","doi-asserted-by":"publisher","DOI":"10.1016\/j.birob.2021.100027"},{"key":"S0263574724001061_ref42","doi-asserted-by":"publisher","DOI":"10.1109\/ICIEA.2016.7603583"},{"key":"S0263574724001061_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2012.09.006"},{"key":"S0263574724001061_ref11","doi-asserted-by":"publisher","DOI":"10.1115\/1.2829470"},{"key":"S0263574724001061_ref19","doi-asserted-by":"publisher","DOI":"10.1115\/1.4003414"},{"key":"S0263574724001061_ref46","first-page":"510","article-title":"Fuzzy neural network active disturbance rejection control for two-wheeled self-balanced robot","volume":"18","author":"Wang","year":"2022","journal-title":"J Inf Proc Syst"},{"key":"S0263574724001061_ref5","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574702004563"},{"key":"S0263574724001061_ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2015.07.009"},{"key":"S0263574724001061_ref20","doi-asserted-by":"publisher","DOI":"10.1115\/1.4006187"},{"key":"S0263574724001061_ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509883"},{"key":"S0263574724001061_ref38","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574721000783"},{"key":"S0263574724001061_ref3","doi-asserted-by":"publisher","DOI":"10.7210\/jrsj.7.338"},{"key":"S0263574724001061_ref22","doi-asserted-by":"publisher","DOI":"10.1115\/1.4054408"},{"key":"S0263574724001061_ref28","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-45770-8_71"},{"key":"S0263574724001061_ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2023.105464"},{"key":"S0263574724001061_ref29","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2016.09.016"},{"key":"S0263574724001061_ref30","doi-asserted-by":"publisher","DOI":"10.3390\/s24051415"},{"key":"S0263574724001061_ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO58561.2023.10354849"},{"key":"S0263574724001061_ref33","first-page":"53","article-title":"Inverse-kinematics-based control of a redundantly actuated platform for rehabilitation proceedings of the institution of mechanical engineers","volume":"223","author":"Saglia","year":"2008","journal-title":"Proc Inst Mech Eng Pt I J Syst Control Eng"},{"key":"S0263574724001061_ref34","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2979625"},{"key":"S0263574724001061_ref9","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574713000556"},{"key":"S0263574724001061_ref35","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9340967"},{"key":"S0263574724001061_ref13","unstructured":"[13] Kuo, C. 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