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When transitioning into legged motion mode, KW-WLRs exhibit passability comparable to traditional legged mobile robots on rough terrain. However, this comes at the cost of reduced flexibility due to the larger inertia of legs, when carrying a redundant knee-wheel. To address this challenge, a wheel-leg cooperation strategy is proposed, that leverages the redundant knee-wheel to enhance legs motion. Analyzing the characteristics of hydraulic actuators for the legs and a permanent magnet synchronous motor (PMSM) for the wheel in our KW-WLR mechanism, we design a delayed nonlinear model predictive controller (DNMPC) to collaboratively control the wheel-leg system. Simulation results demonstrate that our proposed wheel-leg collaborative strategy and controller, which consider the actuators\u2019 characteristics, improve toe-end tracking performance across diverse working conditions and enhance the overall KW-WLR\u2019s locomotion skill.<\/jats:p>","DOI":"10.1177\/09596518241272801","type":"journal-article","created":{"date-parts":[[2024,10,4]],"date-time":"2024-10-04T12:43:15Z","timestamp":1728045795000},"page":"272-289","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Collaborative control of the knee-wheeled wheel-legged robot: Considering actuators characteristics"],"prefix":"10.1177","volume":"239","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-1362-8195","authenticated-orcid":false,"given":"Zheng","family":"Pan","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5635-5295","authenticated-orcid":false,"given":"Shaoxun","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"}]},{"given":"Shiyu","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"}]},{"given":"Boyuan","family":"Li","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7052-2088","authenticated-orcid":false,"given":"Zhihua","family":"Niu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4769-8210","authenticated-orcid":false,"given":"Rongrong","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"}]}],"member":"179","published-online":{"date-parts":[[2024,10,3]]},"reference":[{"key":"e_1_3_3_2_2","volume-title":"Introduction to mobile robot control","author":"Tzafestas SG.","year":"2013","unstructured":"Tzafestas SG. 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