The invention relates to the technical field of robot control, in particular to a multi-mode wheel-leg separation type quadruped robot control system. The control system comprises a terrain recognition module, a mode conversion module, a mode conversion control module, a remote controller or a man-machine interaction system and an upboard controller. The control system relates to wheel mode, foot mode and foot-wheel mode switching control, and effectively solves the problem of how to perform coordinated control when a multi-mode robot faces a multi-scene task demand. According to the system, trajectory tracking control in a wheel mode, motion control in a foot mode and a conversion system between the trajectory tracking control and the motion control are combined, the functions of the multi-mode robot can be efficiently played, and the moving efficiency of the robot is improved.

    本发明涉及机器人控制技术领域,尤其涉及一种多模态轮腿分离式四足机器人控制系统。该控制系统包括:地形识别模块、模态转换模块、模态转换控制模块、遥控器或者人机交互系统和upboard控制器。该控制系统涉及轮模态、足式模态以及足轮模态切换的控制,有效解决了多模态机器人面对多场景任务需求,该如何协调控制的问题。该系统将轮模态下的轨迹跟踪控制,足式模态下的运动控制,两者之间的转换系统的结合起来,有利于高效发挥多模态机器人的功能,提高机器人的移动效率。


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    Title :

    Multi-mode wheel-leg separation type quadruped robot control system


    Additional title:

    一种多模态轮腿分离式四足机器人控制系统


    Contributors:
    ZHANG JINZHU (author) / MENG JIAHAO (author) / CAO JIANDONG (author) / LI SENLIN (author) / DOU YUHAN (author)

    Publication date :

    2023-10-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge



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