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Wheel-foot switching robot system and control method thereof

A robot system and robot technology, applied in the field of robots, can solve the problems of poor robot stability and structural redundancy, and achieve the effects of compact structure, fast switching speed, and reduced accuracy.

Active Publication Date: 2020-08-07
暗物智能科技(广州)有限公司
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  • Application Information

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Problems solved by technology

[0006] Therefore, the technical problem to be solved by the present invention is to overcome the defects of redundant structure of the wheel-foot separation robot in the prior art and poor stability of the robot during the wheel-foot switching process, thereby providing a wheel-foot switching robot system and its control method

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  • Wheel-foot switching robot system and control method thereof

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Embodiment Construction

[0058] The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0059] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientati...

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Abstract

The invention discloses a wheel-foot switching robot system and a control method thereof, a robot comprises a robot trunk, a mechanical leg mechanism mounted at the bottom of the robot trunk and a wheel type mechanism mounted at the upper part of the robot, and the wheel type mechanism and the mechanical leg mechanism are independent of each other; the mechanical leg mechanisms achieve switching of the motion postures of the robot through contraction or extension. The control method of the robot system comprises the following steps of switching real-time postures of a robot before switching; planning a gravity center motion track of the robot trunk part; judging whether each zero moment point in the planned gravity center motion trail of the robot trunk part meets a balance condition within a stability threshold of the robot or not; and if the balance condition is met, contracting or stretching the mechanical leg mechanisms according to the rotating angles of all joints of the robot toachieve stable switching, the problem that the robot loses balance due to the fact that the gravity center of the robot changes during trade wheel-foot switching is avoided, and stable wheel-foot switching can be conducted on complex terrains.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a wheel-foot switching robot system and a control method thereof. Background technique [0002] With the continuous development of robot technology, mobile robots are increasingly appearing in different scenarios such as human life and work. There are two main types of mobile robots: wheeled robots and legged robots. Wheeled robots have simple structure, easy control, fast moving speed, and high efficiency, but it is difficult to adapt to complex terrain such as uneven ground. Legged robots are generally multi-joint robots. Compared with wheeled robots, they have complex structures, difficult control, low moving speed, and low efficiency, but they can adapt to complex ground such as uneven ground. Therefore, combining the advantages of both, some mobile robots integrating wheeled and legged have been gradually developed, which can not only meet the requirements of moving speed a...

Claims

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Application Information

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IPC IPC(8): B62D57/032B25J9/16
CPCB62D57/032B25J9/16B25J9/1679B25J9/1694
Inventor 张志宏赵东陈崇雨
Owner 暗物智能科技(广州)有限公司
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