The invention provides a mobile platform, a robot, a control method and a control device, and belongs to the technical field of robots. The mobile platform comprises a hip module, an inner leg module and an outer leg module; the top end of the inner leg module and the top end of the outer leg module are connected with the hip module along the same rotating shaft, and the hip module can independently drive the inner leg module and the outer leg module to rotate around the rotating shaft; the bottom end of the inner leg module and the bottom end of the outer leg module are each provided with a movable wheel and a supporting foot. Each of the inner leg module and the outer leg module comprises a wheel type state and a foot type state; in the wheel type state, the movable wheels make contact with the ground, the supporting feet do not make contact with the ground, and the movable wheels rotate to achieve movement of the movable platform. In the foot type state, the movable wheels and the supporting feet make contact with the ground at the same time, and the inner leg module and the outer leg module alternately swing so that movement of the movable platform can be achieved. The mobile platform integrates the advantages of a foot type robot and a wheel type robot, so that the robot has wide universality.

    本申请提供了一种移动平台、机器人、控制方法及控制装置,属于机器人技术领域。移动平台包括:髋部模组、内腿模组和外腿模组;内腿模组的顶端和外腿模组的顶端沿同一旋转轴与髋部模组连接,髋部模组能够独立驱动内腿模组和外腿模组绕旋转轴转动;内腿模组的底端和外腿模组的底端均设有活动轮和支撑足;内腿模组和外腿模组均包括轮式状态和足式状态;轮式状态下,活动轮接触地面,支撑足不接触地面,活动轮旋转能够实现移动平台的移动;足式状态下,活动轮和支撑足同时接触地面,内腿模组和外腿模组交替摆动能够实现移动平台的移动。本申请的移动平台融合了足式机器人和轮式机器人的优势,能够使得机器人具有广泛的通用性能。


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    Title :

    Mobile platform, robot, control method and control device


    Additional title:

    移动平台、机器人、控制方法及控制装置


    Contributors:
    ZHANG YUFENG (author) / LI XIONG (author) / ZHANG DONGSHENG (author) / LI JINGCHEN (author)

    Publication date :

    2025-04-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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