The invention provides an omni-directional moving wheel-leg robot and a motion control method thereof.The robot comprises a robot body and a plurality of wheel-leg assemblies, and each wheel-leg assembly comprises an upper supporting leg, a lower supporting leg, an upper supporting leg and a lower supporting leg; one end of the lower supporting leg is rotationally connected with the other end of the upper supporting leg; the omni-directional wheels are mounted at the rotating joints of the upper supporting legs and the lower supporting legs; the first driving module is connected with the upper supporting leg to drive the upper supporting leg to rotate; the second driving module is connected with the lower supporting leg to drive the lower supporting leg to rotate; and the third driving module is connected with the omni-directional wheel to drive the omni-directional wheel to move omni-directionally. The road passing capacity of the wheel-legged robot can be improved.

    本发明提供一种全向移动的轮腿机器人及其运动控制方法,该机器人包括机身和若干轮腿组件,其中,所述轮腿组件包括:上支撑腿,其一端与所述机身转动连接;下支撑腿,其一端与所述上支撑腿的另一端转动连接;全向轮,其安装于所述上支撑腿与所述下支撑腿的转动连接处;第一驱动模块,其与所述上支撑腿连接以驱动所述上支撑腿转动;第二驱动模块,其与所述下支撑腿连接以驱动所述下支撑腿转动;第三驱动模块,其与所述全向轮连接以驱动所述全向轮全向运动。本发明能够提高轮腿机器人的道路通过能力。


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    Title :

    Omni-directional moving wheel-legged robot and motion control method thereof


    Additional title:

    一种全向移动的轮腿机器人及其运动控制方法


    Contributors:
    WANG JILIANG (author) / LIN ZHAOPENG (author) / ZHOU SHIYU (author) / NIU ZHIHUA (author) / PAN ZHENG (author) / LI BOYUAN (author) / YING FEI (author)

    Publication date :

    2023-05-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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