The invention discloses a service robot chassis and a control method thereof, and belongs to the technical field of robots. The robot adopts a leg-foot combined chassis structure and comprises a main body, a first mechanical leg-foot module, a second mechanical leg-foot module and a hardware circuit module. The first mechanical leg and foot module and the second mechanical leg and foot module are symmetrically installed on the two sides of the main body, moving wheels are installed at the bottoms, different moving modes can be switched according to different scenes, and the combined advantage that the wheel type moving efficiency is high and the foot type terrain adaptability is high is achieved. When the robot runs on the flat ground, the direct drive motor drives the wheels to move; when the robot encounters complex terrains, the posture of the legs can be changed by driving the joint motors to achieve actions such as single-foot standing and jumping so as to pass through complex obstacles. The service robot integrates the advantages of a wheel type robot and a foot type robot, and the moving capacity of the service robot is effectively improved.
本发明公开了一种服务机器人底盘及其控制方法,属于机器人技术领域。该机器人采用腿足结合的底盘结构,包含主体、第一机械腿足模块、第二机械腿足模块和硬件电路模块。第一机械腿足模块和第二机械腿足模块对称安装于主体两侧,底部安装有移动轮,能够根据不同场景切换不同的移动模式,实现轮式移动效率高与足式地形适应能力强的结合优势。当机器人在平地运行时,直驱电机带动车轮运动;当机器人遭遇复杂地形时,可通过驱动关节电机改变腿部姿态实现单脚直立、跳跃等动作,以通过复杂障碍物。本发明融合了轮式机器人与足式机器人的优点,有效提升了服务机器人的移动能力。
Service robot chassis and control method thereof
一种服务机器人底盘及其控制方法
2023-05-16
Patent
Electronic Resource
Chinese