The invention belongs to the technical field of robots, and particularly discloses an independent steering four-wheel-drive multi-legged wheel-legged robot which integrates the characteristics of high moving speed, low power consumption and high efficiency of a wheeled robot and the characteristics of high maneuverability and good terrain adaptability of a legged robot. Through the design of independent steering of the wheel legs and active driving of the wheels, the robot can achieve Ackerman steering, in-situ steering, oblique running, arc-shaped steering, large-angle lateral movement, in-situ transverse movement, movement while spinning and other complex wheel leg coupling maneuvering actions; a plurality of maneuvering motion modes such as standing and walking, knee bending and lying, wheel type running, active suspension and wheel-leg coupling motion are achieved through wheel-leg coupling motion, the most appropriate moving mode is selected according to the terrain, and therefore the efficient flat ground motion capacity and the obstacle crossing capacity in the rugged and complex environment are achieved. And high-efficiency all-terrain adaptive capacity can be really realized.
本发明属于机器人技术领域,并具体公开了一种独立转向四驱多足轮腿机器人,其融合了轮式机器人移动速度快、功耗低、效率高与足式机器人机动性高、地形适应性好的特点,并通过轮足独立转向与轮子主动驱动的设计使机器人实现阿克曼转向、原地转向、斜向行驶、弧形转向、大角度侧移、原地横移、边自旋边移动等复杂轮腿耦合机动动作;通过轮腿耦合运动实现站立行走、屈膝趴卧、轮式行驶、主动悬挂、轮腿耦合运动等多种机动运动模式,根据地形选择最合适的移动模式,从而实现高效的平地运动能力以及在崎岖复杂环境下的越障能力,能够真正拥有高效率的全地形适应能力。
Independent steering four-wheel-drive multi-foot wheel-leg robot
一种独立转向四驱多足轮腿机器人
2024-04-16
Patent
Electronic Resource
Chinese
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