Proceedings of the 2025 International Conference on Electronics, Electrical and Grid Technology (ICEEGT 2025)

<Previous Article In Volume
Next Article In Volume>

Research on Key Technologies of Bipedal Wheel-legged Cargo Robots in Semi-Structured Environments

Authors
Yizhi Chen1, *
1JCI Mechanic, Chongqing University, 400044, 174 Shazheng Street, Shapingba District, Chongqing, China
*Corresponding author. Email: Chen6yh@mail.uc.edu
Corresponding Author
Yizhi Chen
Available Online 18 February 2026.
DOI
10.2991/978-94-6463-986-5_39How to use a DOI?
Keywords
Bipedal wheel-legged robots; Logistics automation; Whole-body control; Multimodal navigation; Semi-structured environments
Abstract

This study addresses unmet logistics demands in semi-structured environments such as residential communities, industrial parks, and hospitals, where conventional systems lack adaptability. These settings feature large footprints, access control barriers, and time-sensitive, low-capacity delivery requirements. We propose bipedal wheel-legged robots as an efficient solution, offering superior obstacle avoidance, enhanced mobility, and inherent shock absorption compared to cart-type alternatives. Through systematic analysis of three mechanical configurations—open-chain, partially closed-chain, and fully closed-chain—we identify distinct performance trade-offs in flexibility, load capacity, and terrain adaptability. For motion stability, we compare model-based control strategies (LQR-WBC) and energy-shaping methods (IDA-PBC), highlighting their respective advantages in dynamic response and physical interpretability. Navigation capabilities are enhanced via multimodal sensor fusion, combining LiDAR, vision, INS, and GNSS to overcome individual limitations in environmental perception. The novel contribution lies in establishing a scenario-specific evaluation framework to quantify robot performance, bridging theoretical research and practical logistics applications. Future work will prioritize hardware validation and adaptive mobility algorithms for real-world deployment.

Copyright
© 2026 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

Download article (PDF)

<Previous Article In Volume
Next Article In Volume>
Volume Title
Proceedings of the 2025 International Conference on Electronics, Electrical and Grid Technology (ICEEGT 2025)
Series
Advances in Engineering Research
Publication Date
18 February 2026
ISBN
978-94-6463-986-5
ISSN
2352-5401
DOI
10.2991/978-94-6463-986-5_39How to use a DOI?
Copyright
© 2026 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

Cite this article

risenwbib
TY  - CONF
AU  - Yizhi Chen
PY  - 2026
DA  - 2026/02/18
TI  - Research on Key Technologies of Bipedal Wheel-legged Cargo Robots in Semi-Structured Environments
BT  - Proceedings of the 2025 International Conference on Electronics, Electrical and Grid Technology (ICEEGT 2025)
PB  - Atlantis Press
SP  - 378
EP  - 388
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-986-5_39
DO  - 10.2991/978-94-6463-986-5_39
ID  - Chen2026
ER  -