The invention discloses a wheel-legged robot and a control method thereof, and belongs to the technical field of robots. The robot adopts a wheel-leg combined structure and comprises a wheel part, a leg part and a hardware circuit module. The wheel type part adopts an existing mature bicycle frame and comprises a bicycle frame, a front wheel, a rear wheel and a steering structure part. The leg parts are fixed to the two sides of the frame, physical interaction with the ground environment is facilitated, and the adaptability to the complex environment is improved. The advantages of a wheeled robot and a leg-foot robot are combined, different controllers are designed according to different terrains, the mobile robot can rapidly and stably run on the flat ground and dynamically overcome obstacles at the same time, and the maneuverability of the mobile robot is improved.

    本发明公开了一种轮腿式机器人及其控制方法,属于机器人技术领域。该机器人采用轮腿结合结构,包括轮式部分、腿部分和硬件电路模块。轮式部分采用现有成熟的自行车框架,包括车架、前轮、后轮和转向结构部分。腿部分固定在车架两侧,有利于和地面环境进行物理交互,提高对复杂环境的适应性。本发明结合了轮式机器人与腿足机器人的优点,针对不同地形设计了不同控制器,使移动机器人能够同时在平地上快速平稳行驶和动态克服障碍,提高了移动机器人的机动能力。


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    Title :

    Wheel-legged robot and control method thereof


    Additional title:

    一种轮腿式机器人及其控制方法


    Contributors:
    LIU TAO (author) / HUANG XINYAN (author) / HE LONG (author) / YI JINGANG (author)

    Publication date :

    2023-09-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL



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