The invention provides a slidable wheel foot robot and a control method thereof. The robot comprises a robot body and six legs arranged on the robot body. Each leg comprises a first joint, a second joint, a third joint, a driven wheel and a wheel fixing frame, the driven wheel does not need a power device, and the robot has two modes of foot type movement and sliding movement, so that the application range of the robot is further widened, and different application modes are switched in different scenes; by adjusting the rotating angles of a third joint motor and a second joint motor, the width center line of the driven wheel is perpendicular to the ground, and meanwhile the outer surface of the driven wheel makes full contact with the ground; kinematics and mechanics analysis of a single leg of the six-leg robot can know that if the posture xi of the robot is given, each leg periodically swings according to a certain rule, and then movement of the robot can be achieved.

    本发明提供一种可滑行轮足机器人及其控制方法,机器人包括机器人本体和设置在机器人本体上的六条腿;每条腿包括第一关节、第二关节、第三关节、被动轮和轮子固定架,被动轮无需动力装置,该机器人具有足式运动和滑行运动两种模式,从而进一步增加了机器人的适用范围,通过在不同场景切换不同的运用模式;本发明通过调节第三关节电机和第二关节电机的旋转角度,使被动轮的宽度中心线垂直于地面,同时被动轮的外表面与地面充分接触;六足机器人的单腿的运动学和力学分析可以知道如果在给定机器人的姿态ξ的情况下,每条腿部按照一定的规律周期性的摆动即可实现机器人的运动。


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    Title :

    Slidable wheel foot robot and control method thereof


    Additional title:

    一种可滑行轮足机器人及其控制方法


    Contributors:
    FENG JIAPENG (author) / HE PEI (author) / LI ZHONG (author)

    Publication date :

    2021-04-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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