The invention discloses a double-foot wheel-leg robot motion control system based on servo motors. The system comprises a power supply module used for supplying power to the system; the IMU module is used for collecting the pitch angle course angle, the pitch angle speed and the course angle speed of the robot; the robot adopts a two-foot roller robot and is provided with four servo motors, two hip joint motors are responsible for adjusting the leg length and jumping of the robot, and the other two ankle joint motors are responsible for balancing, advancing and steering of the robot; the main control unit is used for controlling rotation of the four servo motors, and the linear driving torque and the steering torque of the robot are obtained through the hip joint motor torque by means of the stress balance relation of the left wheel and the body of the robot. The LQR control method is adopted to calculate a state feedback matrix required by control output of the STM32 main control unit, and application control of the biped wheel-legged robot can be achieved.

    本发明公开了一种基于伺服电机的双足轮腿机器人运动控制系统,包括:用于为系统供电的电源模块;IMU模块,用于采集机器人俯仰角航向角、俯仰角速度和航向角速度;机器人采用两足滚轮机器人,设有四个伺服电机,其中两个髋关节电机负责调整机器人腿长和跳跃,另外两个踝关节电机负责机器人平衡、前进和转向;主控单元,用于控制四个伺服电机的转动,利用机器人左轮和本体受力的平衡关系,通过髋关节电机扭矩得到机器人的直线行驶扭矩和转向扭矩。采用LQR控制方法计算STM32主控单元控制输出所需要的状态反馈矩阵,能够实现双足轮腿式机器人的应用控制。


    Access

    Download


    Export, share and cite



    Title :

    Double-foot wheel-leg robot motion control system based on servo motors


    Additional title:

    一种基于伺服电机的双足轮腿机器人运动控制系统


    Contributors:
    GU YU (author) / ZHOU LI (author) / GONG XINGXING (author)

    Publication date :

    2024-12-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge



    Wheel-foot robot, robot system, motion control method and motion control system

    FAN JIZHUANG / CUI XIULONG / ZHANG QIAN et al. | European Patent Office | 2025

    Free access

    Double-foot wheel-legged robot

    YAN JICHI / LI JIZHEN / WU ZUOHUA et al. | European Patent Office | 2024

    Free access

    Foot type motion gait planning method for four-wheel-foot robot and four-wheel-foot robot

    LUO XIN / XU ZHANHAO / CHEN JUNJIE et al. | European Patent Office | 2023

    Free access

    Wheel foot leg with double buffer structures and wheel foot robot

    GAO LIANG / XU YURUI / GAO JINGSONG et al. | European Patent Office | 2025

    Free access

    Double-wheel-foot robot and control method thereof

    ZHANG YUANSHUAI / XU HONG / XUE LIN et al. | European Patent Office | 2024

    Free access