【摘要】 针对采用传统麦轮底盘的机器人进行全向移动时对地形的适应能力较差的弱点，设计了一种基于Kalman-LQR控制器的轮腿式平衡机器人。通过采用融合了卡尔曼滤波算法的LQR控制器(Kalman-LQR controller),有效解决了轮腿式平衡机器人在面对如碾过细小障碍物造成打滑等外部干扰时所暴露的平衡控制器易发散的问题。经验证，应用了该型控制器的轮腿式平衡机器人在鲁棒性、稳定性等方面均优于应用普通的LQR(linear quadratic regulator)控制器的机器人，新机器人对复杂地形具有较强的通过能力和适应能力，具有较高的实用价值和推广价值。更多还原

【Abstract】 Aiming at the weakness that the robot with traditional McWheel chassis has poor adaptability to terrain when it moves in omnidirection, a wheel-legged balancing robot based on Kalman-LQR controller is designed. By using the Kalman-LQR controller integrated with the Kalman filter algorithm, the problem of the balance controller easy to divergence exposed by the wheel-legged balancing robot in the face of external disturbances such as slipping caused by running over small obstacles is effectively solved. It is verified that the wheel-legged balancing robot using the controller is better than the robot using the ordinary LQR controller in terms of robustness and stability. The new robot has strong ability to pass and adapt to complex terrain, and has high practical value and promotion value.更多还原