The invention provides a wheel-foot hybrid robot. The wheel-foot hybrid robot comprises a robot body, first leg modules and a second leg module, each first leg module comprises a foot part and a supporting wheel; the second leg module comprises a first driving wheel and a second driving wheel, and the leg module has two working modes: a foot mode and a wheel mode; in the wheel mode, the supportingwheels assist in supporting the robot body, the first driving wheel and the second driving wheel drive the wheel-foot hybrid robot to move together, and steering of the wheel-foot hybrid robot is achieved by controlling the rotating speed difference between the first driving wheel and the second driving wheel. In the foot mode, the second leg module and the supporting wheels are suspended, and the feet of the first leg modules alternately touch the ground so as to drive the wheel-foot hybrid robot to move. Compared with the prior art, the position transfer efficiency is greatly improved. In addition, in the foot mode, rapid steering of the wheel-foot hybrid robot can be achieved.

    本发明提供一种轮足混合式机器人。轮足混合式机器人,包括机身、第一腿模块和第二腿模块;第一腿模块包括足部和支撑轮;第二腿模块包括第一驱动轮和第二驱动轮,腿模块具有两种工作模式:足模式和轮模式;轮模式时,支撑轮辅助支撑机身,第一驱动轮和第二驱动轮一起驱动轮足混合式机器人移动,通过控制第一驱动轮和第二驱动轮的转速差实现轮足混合式机器人的转向;足模式时,第二腿模块和支撑轮悬空,各第一腿模块的足部交替触地,以驱动轮足混合式机器人移动。相对于现有技术,本发明的位置转移效率得到极大的提升。另外,处于足模式时,可以实现轮足混合式机器人的快速转向。


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    Titel :

    Wheel-foot hybrid robot


    Weitere Titelangaben:

    轮足混合式机器人


    Beteiligte:
    MA BAOPING (Autor:in) / WANG CHUNLEI (Autor:in) / YANG YA (Autor:in) / FAN CHUNHUI (Autor:in) / JIN WEIQI (Autor:in) / RUI YUEFENG (Autor:in) / PENG CHANGWU (Autor:in) / ZHANG ZHIPENG (Autor:in)

    Erscheinungsdatum :

    2021-03-19


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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