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Mobile robot wheel foot structure and control method thereof

A mobile robot and control method technology, applied in the field of robots, can solve the problems of low energy consumption of wheeled structures and poor adaptability to complex terrain, and achieve the effect of improving applicability

Active Publication Date: 2020-06-19
JIANGHAN UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The wheeled structure has lower energy consumption, but poor adaptability to complex terrain

Method used

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  • Mobile robot wheel foot structure and control method thereof
  • Mobile robot wheel foot structure and control method thereof

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Embodiment Construction

[0009] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0010] see figure 1 , figure 2 , the present embodiment provides a mobile robot wheel foot structure, including: a base 1, a thigh 2, a lower leg 3, a first drive mechanism 4, a second drive mechanism (not shown in the figure), a third drive mechanism (shown in the figure) Not shown in), roller 5.

[0011] There are two thighs 2, two first driving mechanisms 4, and the two first driving mechanisms 4 are respectively installed on both sides of the base 1, and the two first driving mechanisms 4 are one One corresponds to the driving connection of the two thighs 2, and each of the first driving me...

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Abstract

The invention discloses a mobile robot wheel foot structure. The mobile robot wheel foot structure comprises a base table, thighs, shanks, a first driving mechanism, a second driving mechanism, a third driving mechanism and idler wheels. The invention further discloses a control method of the mobile robot wheel foot structure. The ends, away from the idler wheels, of the shanks tilt upwards, the idler wheels make contact with the ground, and then the third driving mechanism is controlled to operate to drive the idler wheels to rotate; and the second driving mechanism is controlled to operate,one ends, away from the idler wheels, of the shanks are in contact with the ground, then the first driving mechanism and the second driving mechanism are controlled to operate, when the robot moves ina gentle area, the robot walks in a rolling manner, when the mobile robot moves to an area with complex terrain, the second driving mechanism drives the ends, away from the idler wheels, of the shanks to make contact with the ground, the first driving mechanism and the second driving mechanism can drive the thighs and the shanks to swing front and back correspondingly to conduct passive walking,so the applicability of the mobile robot to different areas is improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a wheel foot structure of a mobile robot and a control method thereof. Background technique [0002] Biped robot technology promotes the development of science and technology, and can complete walking tasks in complex environments, which has important research significance. In the face of complex terrain, it is difficult for legged robots to walk, and all joints need to be driven in real time during the walking process, which has poor robustness and high energy consumption. Semi-passive walking is inherently stable with low energy consumption. The wheeled structure has lower energy consumption, but poor adaptability to complex terrain. Contents of the invention [0003] The purpose of the present invention is to overcome the above-mentioned technical deficiencies, provide a mobile robot wheel foot structure and a control method thereof, which can improve the applicability of t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 熊诗琪章红
Owner JIANGHAN UNIVERSITY
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