In order to improve the working efficiency and working ability of the EOD robot, the EOD Robotics Group of the Shenyang Institute of Automation, Chinese Academy of Sciences has developed a new wheel-leg-crawler compound EOD robot with two motion modes of crawler and self-balancing Named Scorpio.

In complex environments, Scorpio can use crawler walking to overcome obstacles and climb stairs; on flat city roads, it can use two-wheel self-balancing mode to walk, with high speed, high flexibility, low energy consumption and long battery life.

Although Scorpio has the advantages of both environmental adaptability and motion flexibility, the compound movement method places higher requirements on the control algorithm of the robot.

Therefore, an adaptive non-linear control algorithm is proposed. According to the robot dynamic model and Kalman filter. The algorithm performs robot state estimation, and proposes an adaptive adjustment algorithm and adaptive zero-offset angle identification algorithm based on the non-linear cascade controller, which can dynamically adjust the controller parameters in real time according to the state of the robot to obtain better Control effect.

The study was supported by a national key research and development program.