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

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.