System Design and Balance Control of a Bipedal Legwheeled Robot The combination of wheels and humanoid robots is a promising way to improve the performance of bipedal robots in agility, moving speed, and energy efficiency. This combination enables the robot to move faster on flat ground, which can effectively improve the adaptability of the biped robot in application scenarios such as logistic distribution, inspection and home services. This paper introduces a 6DOF bipedal legwheeled robot SR600, which has two actuated wheels at the end of the robot shanks, and achieves its balance and locomotion through wheeldriven approach. SR600 is mainly composed of five parts: a waist, two thighs, and two shanks with wheels. It is modeled as a variablestructure wheeled inverted pendulum and we derived its kinematics model based on the center of gravity constraint. Control strategies for balance and locomotion of SR600 are handled by proportional integral differential (PID) controllers. Finally, several practical experiments are conducted to validate the feasibility of the robot mechatronic system and the balance control strategies.

Dynamic Height Balance Control for Bipedal Wheeled Robot Based on ROSGazebo In complex living environments, the application of mobile robots places higher demands on speed, flexibility, and affinity for people. This is an ongoing challenge in mobile robotics. Having these properties is an important research task for mobile robots in human settlements. The SR600 robot is a bipedal wheeled robot platform, developed by the RP laboratory of Harbin Institute of Technology, Shenzhen, is a humanlike bipedal leggedwheeled robot. This paper introduces a method to realize changing height while the bipedal wheeled robot maintains dynamic balance, and simulated it by constructing a simple ROSGazebo simulation environment. Finally, the feasibility of the method is verified by a simple prototype experiment.