The invention provides a walking device which comprises a frame assembly, and a plurality of sets of walking wheel mechanisms are installed below the frame assembly. Wherein each group of walking wheel mechanism at least comprises a steering wheel assembly and an auxiliary wheel assembly, the steering wheel assembly comprises a steering wheel, and the auxiliary wheel assembly comprises an auxiliary wheel; wherein the steering wheel is configured to do reciprocating motion in the vertical direction, and the steering wheel is configured to do steering motion; the auxiliary wheel is configured to reciprocate in a vertical direction. The robot is high in environmental adaptability, flexible to move and capable of crossing gullies and steps (obstacles) and keeping a stable posture.
本发明提供一种行走装置,包括框架组件,在所述框架组件下方安装多组行走轮机构;其中,每一组行走轮机构至少包含舵轮组件和辅助轮组件,舵轮组件包括舵轮,辅助轮组件包括辅助轮;其中,舵轮被配置为:沿竖直方向往复运动,并且舵轮被配置为:转向运动;辅助轮被配置为:沿竖直方向往复运动。本发明环境适应性强,移动灵活,能够跨越沟壑及台阶(障碍物)并中保持平稳姿态。
Walking device and control system and method for walking device
一种行走装置、用于行走装置的控制系统和方法
19.09.2023
Patent
Elektronische Ressource
Chinesisch
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