Balance Strategy for a Quadruped-Wheeled Robot under Three-Leg Support Conditions

Abstract

This paper investigates balance maintenance for the quadruped-wheeled robot MELEW-3 under three legs supporting scenarios. Strategies were explored for both static and dynamic postures to stabilize the center of mass (CoM) after one leg is being lifted or locked, including adjusting the height of CoM and the horizontal position of the remaining legs. The effect of the inertia force on the CoM was also analyzed in dynamic posture. Theoretical verification through position calculations supports these adjustments.