The invention relates to the field of wheel-foot type robots, in particular to a four-foot wheel type deformable omni-directional mobile robot with multiple advancing modes and a control method thereof. The overall structure of the four-foot wheel type deformable omni-directional robot is composed of a vehicle body, a first leg-foot branch chain, a second leg-foot branch chain, a third leg-foot branch chain and a fourth leg-foot branch chain, and the four-foot wheel type deformable omni-directional robot can be freely switched between a normal foot type robot and a wheel type robot in real time by controlling the rotating angle of a motor, so the four-foot wheel type deformable omni-directional robot has the high moving speed of wheel type movement and the high complex environment adaptability of foot type movement; meanwhile, the front side, the back side, the front side, the back side, the left side and the right side are not distinguished, so the stability and the omnibearing moving capability are further improved, and the wheel type deformable omni-directional robot has wide social application prospects.

    本发明涉及轮足式机器人领域,特别涉及一种具备多种行进模式的四足轮式可变形全方位移动机器人及其控制方法。所发明的四足轮式可变形机器人的总体结构由车体,第一、第二、第三和第四腿足支链构成,它可以通过控制电机转角,自由在正常足式机器人与轮式机器人之间实时切换,使其具备轮式运动的高移动速度和足式运动的高复杂环境适应性;同时由于其不区分正反面、前后侧和左右侧,进一步提升了其稳定性和全方位移动能力,使该轮式可变形机器人具有广泛的社会运用前景。


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    Title :

    Four-foot wheel type deformable omni-directional mobile robot and control method thereof


    Additional title:

    一种四足轮式可变形全方位移动机器人及其控制方法


    Contributors:
    CHEN GUANGRONG (author) / LU HUAFENG (author) / ZHANG YANQI (author) / RAN FUXIN (author) / ZHANG JIALE (author) / WANG XIANGYANG (author) / WANG YUANHANG (author) / MENG QINGYU (author) / GUO SHENG (author)

    Publication date :

    2021-09-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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