I used simscape to simulate，modeling and control of a wheeled biped robot. I used LQR to calculate the torque for the robot to maintain balance states. I used a lot of balls to simulate the contact between the tire and the ground. Everything is ok when the yaw angle of the robot is less than 90 degree.
here is yaw 0 dgree

here is yaw 60 dgree

when the yaw angle is greater than 90 degree, can’t maintain balance.
here is yaw 90 dgree

here is yaw 180 dgree

when I change the positive and negative sign of the both hub torque at 180 degree yaw angle , everything return to normal as the same as the 0 degree.
here is yaw 180 dgree but change the positive and negative sign of the both hub torque

What’s happaning? Is it because of the spatial contact force？I used simscape to simulate，modeling and control of a wheeled biped robot. I used LQR to calculate the torque for the robot to maintain balance states. I used a lot of balls to simulate the contact between the tire and the ground. Everything is ok when the yaw angle of the robot is less than 90 degree.
here is yaw 0 dgree

here is yaw 60 dgree

when the yaw angle is greater than 90 degree, can’t maintain balance.
here is yaw 90 dgree

here is yaw 180 dgree

when I change the positive and negative sign of the both hub torque at 180 degree yaw angle , everything return to normal as the same as the 0 degree.
here is yaw 180 dgree but change the positive and negative sign of the both hub torque

What’s happaning? Is it because of the spatial contact force？ I used simscape to simulate，modeling and control of a wheeled biped robot. I used LQR to calculate the torque for the robot to maintain balance states. I used a lot of balls to simulate the contact between the tire and the ground. Everything is ok when the yaw angle of the robot is less than 90 degree.
here is yaw 0 dgree

here is yaw 60 dgree

when the yaw angle is greater than 90 degree, can’t maintain balance.
here is yaw 90 dgree

here is yaw 180 dgree

when I change the positive and negative sign of the both hub torque at 180 degree yaw angle , everything return to normal as the same as the 0 degree.
here is yaw 180 dgree but change the positive and negative sign of the both hub torque

What’s happaning? Is it because of the spatial contact force？ spatial contact force, robot, simscape MATLAB Answers — New Questions

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