According to the multi-posture switching two-wheeled robot and the working method thereof, adaptive posture modes can be replaced according to different road surface conditions and scene requirements, and the multi-posture switching two-wheeled robot has high dynamic motion capacity and high terrain adaptive capacity; when the robot faces a flat road surface, the robot can move at a high speed in a leg stretching mode or a leg retracting mode, and the stability of the body and the adjustment of the height of the whole vehicle can be achieved by controlling the hub motors, the hip joint motors and the knee joint motors. In the narrow channel, such as an underground pipeline or a single-plank bridge, the bicycle mode is adopted in a switching mode, and stable movement of the robot can be achieved by using extremely small ground space in the posture mode. When an obstacle exists on the ground running path, the postures of the body and the legs are controlled by adjusting the hub motors, the hip joint motors and the knee joint motors, the jumping obstacle crossing function of the robot can be achieved, extra detouring is not needed, and therefore the running efficiency of the robot is improved.
本发明公开了一种多姿态切换的两轮足机器人及其工作方法,能根据不同的路面情况以及场景需求,可以更换适应的姿态模式,具有强大的动态运动能力以及较强的地形适应能力;在面对平坦路面时,机器人可采用张腿模式或收腿模式,以较快的速度移动,通过控制轮毂电机、髋关节电机和膝关节电机,能够实现身体的平稳以及整车高度的调节。在面对狭隘通道,如地下管道或独木桥时,切换采用自行车模式,在该姿态模式下能够利用极小的地面空间实现机器人稳定的移动。在地面行驶路径上具有障碍物时,通过调节轮毂电机、髋关节电机和膝关节电机进而控制身体和腿部的姿态,可实现机器人的跳跃越障功能,无需额外绕行,从而提高机器人的行驶效率。
Multi-posture switching two-wheeled robot and working method thereof
一种多姿态切换的两轮足机器人及其工作方法
2023-04-04
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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