Wheel-leg robot and control method thereof
A robot and wheel foot technology, applied in the field of robotics, can solve problems such as difficult movement and detection, slow moving speed, etc.
Active Publication Date: 2019-02-15
JIANGHAN UNIVERSITY
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Problems solved by technology
[0003] Although wheeled mobile robots move faster, wheeled mobile robots are only suitable for areas with relatively flat terrain, and it is difficult to move and detect areas with more complex terrain; while footed mobile robots can be implemented in areas with more complex terrain However, its moving speed is relatively slow in relatively flat areas, so footed mobile robots are usually not used for detection in areas with flat terrain, and both are subject to certain restrictions on the use of terrain
Method used
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[0032] In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.
[0033] figure 1 It is a schematic structural diagram of a state of a wheeled robot provided by an embodiment of the present invention, such as figure 1 As shown, the wheel-footed robot includes: a robot main body 1 and two moving assemblies 2 , and the two moving assemblies 2 are arranged on the robot main body 1 in parallel and facing each other.
[0034] Each moving assembly 2 includes a rotating disk 21 , n swing rods 22 and n rolling arcs 23 corresponding to the n swing rods 22 , wherein n is an integer and n is greater than or equal to two.
[0035] The main body of the robot 1 is provided with a rotating shaft 11 matched with a rotating disc 21 , and the rotating disc 21 is coaxially connected to the rotating shaft 11 .
[0036...
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The invention discloses a wheel-leg robot and a control method thereof, and belongs to the technical field of robots. When probing is conducted in an area with the flat terrain, n swinging rod motorsin each moving assembly can be controlled to rotate until included angles between n swinging rods connected with each swinging rod motor are equal, a rolling motor is controlled to rotate, and thus nrolling arc-shaped pieces in each moving assembly are connected in an end-to-end mode; rotating shafts rotate, thus rotating discs can be controlled to rotate to control the n rolling arc-shaped pieces to rotate with the axes of the rotating discs as rotating axes, and thus a robot body moves in the area with the flat terrain; and in an area with the complex terrain, the n swinging rod motors rotate, so that the included angle between two of the n swinging rods is less than 120 degrees, and other swinging rods are all located beyond the included angle between the two swinging rod, output shafts of the rolling motors connected with the two swinging rods are controlled to rotate in sequence, thus two of the rolling arc-shaped pieces swing in a circulating mode, and moving of the robot body is completed.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a wheel-foot robot and a control method thereof. Background technique [0002] With the development of human scientific and technological civilization, the demand for robots in various application fields is increasing, and mobile robots that can enter areas that are difficult for humans to enter for independent detection have been widely developed and applied. Among them, the mobile robot can include a wheeled mobile robot and a legged mobile robot. The wheeled mobile robot at least includes a robot body and a rolling structure arranged on the robot body. The rolling structure can realize the robot body to realize the wheeled mobile robot on the ground. Movement; while the footed mobile robot at least includes a robot body and multiple foot structures, and the multiple foot structures advance alternately to realize the movement of the footed mobile robot on the ground. [0003] A...
Claims
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IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 熊诗琪罗会容吴向成李鹏
Owner JIANGHAN UNIVERSITY