The invention relates to a multi-mode robot with a wheel-foot variable structure and a mode switching control method thereof.The multi-mode robot comprises a main machine body and wheel-foot mechanisms rotationally arranged on the left side and the right side of the main machine body, each wheel-foot mechanism comprises a connecting base, two driving modules and two arc-shaped walking frames, and a first driving device is arranged on the main machine body to drive the connecting base to rotate; the two driving modules are arranged at the front end and the rear end of the connecting base and connected to the ends of the two arc-shaped walking frames correspondingly, the two arc-shaped walking frames can be connected end to end to form an annular structure, and the driving modules can drive the arc-shaped walking frames to rotate and swing in the x-axis direction, the y-axis direction and the z-axis direction. According to the multi-mode robot with the wheel-foot variable structure, two motion forms of a two-wheel type and a four-foot type are originally designed, and the multi-mode robot has the advantages of being compact in structure, high in terrain adaptability, high in moving efficiency and the like. According to the modal switching control method provided by the invention, when the robot advances, the wheel type motion form and the foot type motion form can be automatically switched according to road conditions.
本发明涉及一种轮足可变结构的多模态机器人及其模态切换控制方法,包括主机身和转动设置在主机身左右两侧的轮足机构,轮足机构包括连接座、两个驱动模组和两个圆弧形行走架,主机身上设置有第一驱动装置驱动连接座旋转,两个驱动模组设置在连接座前后两端并分别连接至两个圆弧形行走架的端部,两个圆弧形行走架可首尾相接组成一个圆环形结构,驱动模组可驱动圆弧形行走架在x轴、y轴和z轴三个方向上回转摆动。本发明提供的轮足可变结构的多模态机器人独创设计了二轮式与四足式两种运动形态,具有结构紧凑、地形适应性强、移动效率高等优点。本发明提供的模态切换控制方法在机器人行进时,可以根据路况自动切换轮式与足式两种运动形态。
Multi-modal robot with wheel-foot variable structure and modal switching control method of multi-modal robot
一种轮足可变结构的多模态机器人及其模态切换控制方法
2024-07-05
Patent
Electronic Resource
Chinese
State estimation method and system for multi-modal perception of foot robot
European Patent Office | 2020
|Bionic gait control method of multi-modal robot and walking robot
European Patent Office | 2024
|