用四足机器人形态设计可骑行自平衡两轮车，实现自然动态行走。
Control Design for a Rideable Animatronic Two-Wheeled Robot with Quadruped Form
- 以自平衡两轮为基础，四肢辅助运动和上下车，减轻动力负担。
- 通过协调控制实现快速肢体动作下的稳定平衡，支持自然步态。
- 适合用于公共活动中的互动式角色表演，体验感强。
近年来，摩托车在年轻群体中的受欢迎程度持续下降。为重燃这一代人对摩托车的兴趣，我们开发了一款可骑行的四足形态两轮机器人，作为未来伙伴型移动载体，适用于公共活动场景。该机器人能搭载人物骑乘，具备动态四足步态，四肢、手腕、脚踝及面部可进行生动表情与动作表达。为提升骑行体验，需在符合角色设定尺寸与重量的同时保障安全，并实现灵活肢体运动。若仅靠四肢驱动，将导致电机负载过大、结构过重、行进缓慢，影响角色还原度。为此，机器人采用自平衡两轮基座完成主要移动，四肢仅在上下车及协同配合时提供辅助支撑，并随车速同步运动。此设计使机器人可通过重心转移实现直观、自然的自由移动。本文重点研究一种鲁棒自平衡控制方法，可在快速肢体动作下保持稳定，以及一种生成自然四足步态的运动控制策略。
原文摘要 · Abstract (English)
In recent years, motorcycle popularity has been declining, particularly among the younger generations. To rekindle interest in motorcycles among this demographic, we developed a rideable two-wheeled robot equipped with four limbs as a future partner mobility concept and intended for use in public events. The character reproduced by this robot carries the protagonist on its back and exhibits a dynamic quadrupedal gait. To maximize the riding experience, we aimed to match the robot's weight and size to the character's specifications while ensuring rider safety and enabling expressive movements of limbs, wrists, ankles, and facial features. However, achieving locomotion solely through limb movement would require excessive motor output and increased limb strength, resulting in higher weight and extremely slow gait, thereby reducing character fidelity. To overcome these challenges, the robot performs its primary locomotion using a self-balancing two-wheeled base, while the limbs provide auxiliary support during mounting and dismounting and move in coordination with the wheeled locomotion speed. This approach enables an animatronic robot capable of intuitive, weight-shift-based control for free and natural movement. In this paper, we focus on a robust selfbalancing control method that maintains stability even during rapid limb movements, as well as a motion control strategy that generates natural quadruped-like behavior.
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