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A wheel-foot switching robot system and its control method

A robot system and control method 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 precision

Active Publication Date: 2022-01-18
暗物智能科技(广州)有限公司
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  • Abstract
  • Description
  • Claims
  • 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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  • A wheel-foot switching robot system and its control method
  • A wheel-foot switching robot system and its control method
  • A wheel-foot switching robot system and its control method

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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 some of the embodiments of the present invention, but not 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 orientation, ...

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Abstract

The invention discloses a wheel-foot switching robot system and a control method thereof. The robot includes a robot trunk, a mechanical leg mechanism installed at the bottom of the robot trunk, and a wheel mechanism installed on the upper part of the robot. The wheel mechanism and the mechanical leg mechanism are independent of each other; The mechanical leg mechanism realizes the switching of the robot's motion posture by shrinking or stretching; the control method of the robot system plans the trajectory of the center of gravity of the robot's trunk according to the real-time posture before the robot is switched, and judges the trajectory of the center of gravity of the planned robot's torso. Whether the zero-moment point satisfies the balance condition within the stability threshold of the robot. If the balance condition is met, the mechanical leg mechanism is contracted or extended according to the rotation angle of each joint of the robot to achieve stable switching, avoiding the robot's center of gravity when switching wheels and feet rashly. The change causes the robot to lose its balance, and it can perform stable wheel-foot switching on complex terrain.

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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Patent Type & Authority Patents(China)
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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