The invention discloses a wheel-foot switching control method which comprises the following steps: determining whether state switching is needed or not according to the current state of a wheel-foot robot; when it is detected that the four-wheel state needs to be switched into the two-wheel state, a grounding wheel and a lifting wheel are determined, the grounding wheel is controlled to rotate in the first direction, and the lifting wheel is controlled to rotate in the second direction; a second joint of the wheel-foot robot is controlled to rotate, so that the lifting wheel leaves the ground, and the projection of the virtual balance point corresponding to the grounding wheel is adjusted to be within the supporting area of the two grounding wheels; rotation of the two grounding wheels is controlled to enable the wheel-foot robot to run, and balance in the running process is maintained. The invention further discloses a corresponding system, the wheel-foot robot and a storage medium. According to the invention, the switching of the walking modes can be rapidly and stably realized, the flexible obstacle avoidance under a multi-obstacle complex road surface under various working conditions can be realized, and the switching efficiency and stability are improved.
本发明公开了一种轮足切换控制方法,包括步骤:根据轮足机器人的当前状态,确定是否需要进行状态切换;在检测到需要从四轮状态切换为两轮状态时,确定接地轮以及抬起轮,并控制接地轮按第一方向旋转,控制抬起轮按第二方向旋转;控制轮足机器人的第二关节旋转,使抬起轮离开地面,并将所述接地轮对应的虚拟平衡点投影调整至所述两个接地轮的支撑区域之内;控制两个接地轮的旋转使轮足机器人行驶,并维持行驶过程中的平衡。本发明还公开了相应的系统、轮足机器人及存储介质。实施本发明,可以快速平稳地实现行走模式的切换,可以实现多种工况下多障碍物复杂路面下的灵活避障,提高了切换的效率以及平稳性。
Wheel-foot switching control method and system, wheel-foot robot and storage medium
一种轮足切换控制方法、系统、轮足机器人及存储介质
2024-09-13
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Wheel-foot switching device suitable for wheel-foot robot
European Patent Office | 2022
|Leg structure of wheel-foot robot, wheel-foot robot and four-wheel-foot robot
European Patent Office | 2024
|