The invention relates to the field of robots, in particular to a modularized double-wheel-foot robot with parallel spines and a control method of the modularized double-wheel-foot robot. The overall structure of the modularized biped robot with the spine is composed of a spine assembly, a trunk assembly and mechanical leg assemblies. The control framework is composed of a spine control module, a wheel foot motion control module and a robot combination cooperative control module. The spine is composed of a parallel structure, the degree of freedom of the robot is increased, higher flexibility is achieved, meanwhile, the spine and the trunk can rotate around the mechanical legs, splicing of various forms of robots such as a double-wheel-foot robot, a bionic four-wheel-foot robot, a side-by-side four-wheel-foot robot and a multi-wheel-foot robot can be achieved, and the applicability of the robot is improved.
本发明涉及机器人领域,特别涉及一种具有并联脊柱的可模块化双轮足机器人及其控制方法。所发明的具有脊柱的可模块化双足机器人的总体结构由脊柱组件、躯干组件和机械腿组件构成;其控制架构由脊柱控制模块、轮足运动控制模块和机器人组合协同控制模块组成。脊柱由并联结构组成,增加了机器人的自由度,具有更高的灵活性,同时脊柱和躯干可以绕机械腿旋转,能够进行多种形态机器人的拼合:双轮足机器人、仿生四轮足机器人、并排四轮足机器人、多轮足机器人等,提高了机器人的适用性。
Modularized double-wheel-foot robot with spine and control method of modularized double-wheel-foot robot
一种具有脊柱的模块化双轮足机器人及其控制方法
2023-05-26
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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