The invention discloses a design and control method of a wheel-leg balance robot capable of actively jumping. The design of the wheel-legged balance robot is based on a planar parallel five-bar mechanism, the leg structure design and the wheel train structure design of the wheel-legged balance robot suitable for active jumping are comprehensively considered, and various sensor modules are adopted for sensing, so that the robot can autonomously jump on complex obstacle road sections; meanwhile, the diameter of the wheel and the torque of the motor are designed in a matched mode, so that the robot has high trafficability; a joint motor connecting structure is improved, so that the design strength of a leg structure is improved; an inverted pendulum model containing a wheel-leg mixed structure is used for fitting robot motion, an LQR control algorithm is adopted for processing a nonlinear system through piecewise linearization, and reference input is added to achieve trajectory tracking.
本发明公开了一种可主动跳跃的轮腿平衡机器人设计及控制方法。所述轮腿式平衡机器人设计基于平面并联五杆机构,综合考虑了适合于主动跳跃的轮腿式平衡机器人的腿部结构设计、轮系结构设计,采用多种传感器模块进行感知,使得机器人能够自主进行复杂障碍路段的跳跃功能;同时,轮子直径与电机扭矩进行了匹配设计,使得机器人具备较强的通过性;对关节电机连接结构进行改进,以提高腿部结构的设计强度;使用包含轮腿混合结构的倒立摆模型拟合机器人运动,并采用LQR控制算法通过分段线性化处理非线性系统,并加入了参考输入以实现轨迹跟踪。
Design and control method of wheel-leg balance robot capable of jumping actively
可主动跳跃的轮腿平衡机器人设计及控制方法
04.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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