The invention provides a double-wheel robot with double-wheel driving and double-steering control and a control method. A guide rail sliding block mechanism arranged in the length direction is arranged at the front end of a frame of a vehicle body module, and a front trunk connecting plate is fixedly connected with a sliding block and has the linear motion freedom degree; the rear trunk connecting plate is fixedly arranged at the rear end of the frame front and back; the front movement module is connected to the front trunk connecting plate, the rear movement module is connected to the rear trunk connecting plate, and the front movement module and the rear movement module are consistent in structure and respectively comprise thighs, shanks and wheels; the two-wheeled robot is configured to be switched among three different configurations of a bicycle, a self-balancing vehicle and a slant vehicle, and the slant vehicle is used for connecting configuration changes between the bicycle and the self-balancing vehicle. According to the double-wheel robot and the control method, smooth switching of the bicycle and the self-balancing vehicle can be achieved, and the over-constraint problem caused by a redundant driver is solved by introducing active control of the deformation freedom degree and the modified freedom degree of the double-wheel vehicle structure.

    本发明提供了一种具有双轮驱动和双转向控制的双轮机器人及控制方法,车体模块的车架的前端设置有延长度方向布置的导轨滑块机构,前躯干连接板与滑块固定连接而具有直线运动自由度,后躯干连接板前后位置固定的设置在车架的后端;前运动模块连接在前躯干连接板上,后运动模块连接在后躯干连接板上,结构一致并分别包括大腿、小腿和车轮;双轮机器人被配置为在自行车、自平衡车和斜向车三种不同的构型之间转换,其中,斜向车被用来衔接自行车和平衡车之间的构型变化。所提供的双轮机器人及控制方法能够实现自行车和自平衡车两种构型的平滑切换,并通过引入双轮车结构形变自由度及改自由度的主动控制来解决冗余驱动器引起的过约束问题。


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    Title :

    Double-wheel robot with double-wheel driving and double-steering control functions and control method


    Additional title:

    一种具有双轮驱动和双转向控制的双轮机器人及控制方法


    Contributors:
    WANG XUEFENG (author) / SUN BOTIAN (author) / LANG QINGLIN (author) / LI MINGHE (author)

    Publication date :

    2025-03-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62K Fahrräder , CYCLES



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