The invention discloses a wheel-foot type inspection robot and a motion control method.The wheel-foot type inspection robot comprises a robot trunk, two sets of first foot type motion mechanisms are symmetrically installed on the side wall of the front end of the robot trunk, and two sets of second foot type motion mechanisms are symmetrically installed on the side wall of the rear end of the robot trunk; the foot type movement mechanism I and the foot type movement mechanism II are matched with each other, so that the inspection robot performs foot type movement; a wheel type movement mechanism I is mounted on the foot type movement mechanism I, a wheel type movement mechanism II is mounted on the foot type movement mechanism II, and the wheel type movement mechanism I and the wheel type movement mechanism II are matched with each other to enable the inspection robot to perform wheel type movement. According to the invention, the neural model of the central pattern generator is established, and bionic motion control is carried out on the wheel-foot type inspection robot according to the neural motion control method of the central pattern generator, so that multi-motion-mode control and switching of the wheel-foot type inspection robot are realized, and the wheel-foot type inspection robot can adapt to a complex motion environment.
本发明公开了一种轮足式巡检机器人及运动控制方法,包括机器人躯干,所述机器人躯干的前端侧壁对称安装有两组足式运动机构一,所述机器人躯干的后端侧壁对称安装有两组足式运动机构二,足式运动机构一和足式运动机构二相互配合使得巡检机器人进行足式运动;所述足式运动机构一上安装有轮式运动机构一,所述足式运动机二上安装有轮式运动机构二,轮式运动机构一和轮式运动机构二相互配合使得巡检机器人进行轮式运动。本发明过建立中枢模式发生器神经元模型,依据中枢模式发生器神经元运动控制方法,对轮足式巡检机器人进行仿生运动控制,实现了轮足式巡检机器人的多运动模式控制及切换,并使得轮足式巡检机器人能够适应复杂的运动环境。
Wheel-foot type inspection robot and motion control method
一种轮足式巡检机器人及运动控制方法
2023-09-22
Patent
Electronic Resource
Chinese
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