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Four-foot wheel type deformable omni-directional mobile robot and control method thereof

A technology of omnidirectional movement and control method, which is applied in the field of four-legged wheeled deformable omnidirectional mobile robot and its control

Active Publication Date: 2021-09-10
BEIJING JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003]The problem to be solved by the present invention is to design a four-legged wheel-type deformable omni-directional mobile robot and its control method, and at the same time realize the high moving speed and Highly complex environmental adaptability of foot movement to meet the requirements for driving efficiency and driving ability in different terrain environments

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  • Four-foot wheel type deformable omni-directional mobile robot and control method thereof
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  • Four-foot wheel type deformable omni-directional mobile robot and control method thereof

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Embodiment Construction

[0029] The present invention will be further described in conjunction with the accompanying drawings.

[0030] The problem to be solved by the present invention is to design a four-legged wheeled deformable omnidirectional mobile robot and its control method, which can simultaneously realize the high moving speed of the wheeled movement and the high complex environment adaptability of the footed movement, so as to meet the needs of different terrain environments. The requirements for driving efficiency and driving ability are as follows.

[0031] The technical scheme that the present invention solves its technical problem adopts is:

[0032] Such as figure 1 Shown, a kind of quadruped wheel type deformable all-round mobile robot is characterized in that: its overall structure is made up of car body (1), first, second, third and fourth leg foot chain (2-1 , 2-2, 2-3, 2-4) form;

[0033] Wherein, the near-body motor (3-1) of the first, second, third and fourth leg-foot chain...

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Abstract

The invention relates to the field of wheel-foot type robots, in particular to a four-foot wheel type deformable omni-directional mobile robot with multiple advancing modes and a control method thereof. The overall structure of the four-foot wheel type deformable omni-directional robot is composed of a vehicle body, a first leg-foot branch chain, a second leg-foot branch chain, a third leg-foot branch chain and a fourth leg-foot branch chain, and the four-foot wheel type deformable omni-directional robot can be freely switched between a normal foot type robot and a wheel type robot in real time by controlling the rotating angle of a motor, so the four-foot wheel type deformable omni-directional robot has the high moving speed of wheel type movement and the high complex environment adaptability of foot type movement; meanwhile, the front side, the back side, the front side, the back side, the left side and the right side are not distinguished, so the stability and the omnibearing moving capability are further improved, and the wheel type deformable omni-directional robot has wide social application prospects.

Description

technical field [0001] The invention relates to the field of wheel-foot robots, in particular to a quadruped wheel-type deformable omnidirectional mobile robot with multiple travel modes and a control method thereof. Background technique [0002] Mobile robots can be divided into wheeled robots and legged robots, and are often used to perform tasks such as material transportation, emergency rescue, security inspections, and reconnaissance strikes. Wheeled robots have faster moving speed than legged robots, but their adaptability to complex environments is poor; conversely, legged robots have higher adaptability to complex environments than wheeled robots, but their moving speed is slower. Traditional legged robots only have the ability to walk on legs and feet. Although they can overcome some complex terrains, the walking efficiency becomes a limiting factor under better terrain conditions. At the same time, the existing leg-foot and wheel-type integrated robots need additi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02B62D57/032
CPCB62D57/02B62D57/032
Inventor 陈光荣卢华风张彦琦冉涪馨张家乐王向阳王远航孟庆宇郭盛
Owner BEIJING JIAOTONG UNIV
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