Wheel-legged biped robot and control method thereof

Abstract

The application discloses a wheeled biped robot and a control method thereof, and belongs to the technical field of biped wheel-leg robots, and solves the technical problems of short continuous working time, single function, low moving efficiency and incapability of adapting to complex environments of the biped wheel-leg robot in the prior art. The wheeled biped robot comprises a trunk, a walking part and a working part which are connected with the trunk respectively; the trunk comprises a pair of middle plates, a plurality of supporting rods are arranged between the middle plates; a battery assembly, a driver assembly, an encoder assembly and a main control assembly are arranged between the pair of middle plates respectively; the walking part comprises a driving leg, a driven leg and a small leg; the working part comprises a base which is arranged at the lower part of the trunk, and a caliper assembly is arranged on the base. The wheeled biped robot and the control method thereof can be better used for scientific research, medical instruments, logistics transportation, environmental exploration, disaster rescue and the like, and have good stability and strong adaptability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of biped wheel-legged robot, in particular to a wheeled biped robot and a control method thereof. BACKGROUND

[0002] At present, the research on foot robot mainly focuses on biped and quadruped. The ground mobile robot has been widely used in many fields such as resource exploration and disaster rescue, and the wheel-foot composite robot can combine the advantages of fast and stable wheel movement and high obstacle performance of foot movement, which has important research value in theoretical innovation and engineering technology. The mechanical structures of wheel-foot composite robots at home and abroad in recent years are analyzed and compared, and the wheel-foot mechanism composite methods are mainly divided into four categories.

[0003] In the joint driving scheme, the motor driving is generally used. Due to the limitation of structure and material, the movement efficiency of the robot is low, which is not suitable for long-term operation and high-efficiency work, lacks the ability to actively adapt to different road surfaces, and is difficult to adapt to complex unstructured environments. SUMMARY

[0004] The purpose of the present application is to provide a wheeled biped robot and a control method thereof, so as to solve the technical problems of short continuous working time, single action, low movement efficiency and inability to adapt to complex environment of the biped wheel-legged robot in the prior art.

[0005] To achieve the above purpose, the present application provides the following technical solutions:

[0006] The wheeled biped robot provided by the present application comprises a trunk, a walking part and a working part connected with the trunk respectively, and comprises:

[0007] The trunk comprises a pair of intermediate plates, a plurality of support rods are arranged between the intermediate plates; a battery assembly, a driver assembly, an encoder assembly and a main control assembly are arranged between the pair of intermediate plates respectively; a driving motor one is arranged on the outer side of the intermediate plate, and a belt wheel one is connected with the output shaft of the driving motor one;

[0008] The walking part comprises a driving leg, a driven leg and a small leg; the driving leg comprises a driving leg support, one end of the driving leg support is connected with a belt wheel two, the other end of the driving leg support is connected with the small leg, a synchronous belt is connected between the belt wheel one and the belt wheel two, the belt wheel two is connected with the middle plate through a belt wheel support; the driven leg comprises a driven leg support and a driven leg upper support and a driven leg lower support connected with the driven leg support respectively; the driven leg upper support is connected with the trunk part, and the driven leg lower support is connected with the small leg;

[0009] The working part comprises a base, the base is arranged on the lower part of the trunk part, and a caliper assembly is arranged on the base.

[0010] Optionally or preferably, the small leg comprises a small leg support, one end of the small leg support is connected with a small leg arm, the small leg arm is connected with a driving motor two at the end away from the small leg support, and the output shaft of the driving motor two is connected with a moving wheel; a motor encoder is connected on the driving motor two;

[0011] Optionally or preferably, the other end of the small leg support is connected with an omnidirectional wheel inner support and an omnidirectional wheel outer support respectively, and an omnidirectional wheel is arranged between the omnidirectional wheel inner support and the omnidirectional wheel outer support and away from one side of the small leg support.

[0012] Optionally or preferably, the omnidirectional wheel outer support is connected to the outer wall of the small leg support in a fit manner; a gap is arranged between the omnidirectional wheel inner support and the inner wall of the small leg support, and the omnidirectional wheel inner support and the omnidirectional wheel outer support are fixed through a plurality of plug screws.

[0013] Optionally or preferably, the caliper assembly comprises a driving motor three, the output shaft of the driving motor three is connected with a rotating disc, both ends of the rotating disc are connected with a bent plate respectively, and one end of the bent plate is connected with a caliper.

[0014] Optionally or preferably, support frames one, two, three and four are arranged between the middle plates respectively; the support frame one is used for fixing the main control assembly; the support frame two is used for fixing the driver assembly; the support frame three is used for fixing the encoder assembly; and the support frame four is used for fixing the battery assembly.

[0015] Optionally or preferably, the driving motor one is provided with a rear side plate away from the working part, and the driven leg upper support is movably connected with the rear side plate.

[0016] A control method of a wheeled biped robot, comprising joint movement driven by the driving motor one and foot end movement driven by the driving motor two.

[0017] The control method of the foot end movement comprises the following steps:

[0018] S1, a wheeled plane dynamics model is established;

[0019] S2, a wheeled steering dynamics model is established;

[0020] The control method of the joint movement comprises the following steps:

[0021] S3, a leg support kinematics model is established;

[0022] S4, a leg jumping kinematics model is established.

[0023] Optionally or preferably, the method for establishing the wheeled plane dynamics model and the wheeled steering dynamics model in S1 and S2 is that force and torque balance equations are established for the driving wheels respectively, and force and torque balance equations after the center of mass translation are established, so as to obtain complete driving wheel dynamics models and steering dynamics models.

[0024] Optionally or preferably, the method for establishing the leg support kinematics model in S3 is that through motion analysis of leg rods, it is assumed that the robot foot end point moves in an approximate straight line within a set range, the relationship between the robot joint motor rotation angle and the foot end height is calculated, a polynomial is obtained through multiple linear fitting, so that the controller can directly map the robot body height to the joint motor rotation angle, and a posture control matrix is established for the robot body, so that the remote controller can control the roll angle and yaw angle of the robot;

[0025] The method for establishing the leg jumping kinematics model in S4 is that after the robot leg rods, joint connection mode, number and type are determined, the motion speed of the robot foot end point is controlled according to the motion state and target of the robot, and combining energy conversion and loss, gravity center control, landing impact and the influence of load factors, a corresponding leg jumping kinematics equation is established, so as to obtain the lowest jumping speed and the highest jumping speed required for the robot to leave the ground.

[0026] Based on the above technical solutions, the embodiments of the present application can at least produce the following technical effects:

[0027] (1) The wheeled biped robot provided by the present application has high adaptability, and through the active leg, the driven leg, the lower leg and the mutual cooperation in the walking part, different road surface environments can be adapted, and complex terrains such as steps and low passages can be realized;

[0028] (2) The omnidirectional wheel arranged at the elbow can better help the robot to start and stop, maintain the stability of the robot, and avoid the robot from being damaged when receiving a severe impact;

[0029] (3) Through the detachable connection with the working part, various working contents and working environments are adapted. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is the overall structure schematic diagram of the wheel type biped robot of the present application;

[0031] Figure 2 is the structure schematic diagram of the trunk part of the wheel type biped robot of the present application;

[0032] Figure 3 is the bottom view of the trunk part of the wheel type biped robot of the present application;

[0033] Figure 4 is the structure schematic diagram of the caliper assembly of the wheel type biped robot of the present application Figure 1 ;

[0034] Figure 5 is the bottom view of the caliper assembly of the wheel type biped robot of the present application;

[0035] Figure 6 is the structure schematic diagram of the active leg of the wheel type biped robot of the present application;

[0036] Figure 7 is the structure schematic diagram of the passive leg of the wheel type biped robot of the present application;

[0037] Figure 8 is the structure schematic diagram of the shank of the wheel type biped robot of the present application Figure 1 ;

[0038] Figure 9 is the structure schematic diagram of the shank of the wheel type biped robot of the present application Figure 2 .

[0039] In the figure: 1, middle plate; 2, support rod; 3, active leg; 31, active leg support; 4, passive leg; 41, passive leg support; 42, passive leg upper support; 43, passive leg lower support; 5, shank; 51, shank support; 52, shank arm; 53, omni-wheel inner support; 54, omni-wheel outer support; 55, plug screw; 6, pulley one; 7, driving motor one; 8, pulley two; 9, synchronous belt; 10, caliper; 11, base; 12, support frame one; 13, support frame two; 14, support frame three; 15, support frame four; 16, driving motor two; 17, action wheel; 18, motor encoder; 19, omni-wheel; 20, driving motor three; 21, rotating disc; 22, bending disc; 23, pulley support; 24, battery compartment front plate. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application; obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and all other embodiments obtained by a person of ordinary skill in the art without creative effort on the basis of the embodiments of the present application shall fall within the protection scope of the present application.

[0041] Please refer to Figures 1 to 3 A wheeled biped robot comprises a trunk, a walking part and a working part connected with the trunk respectively; specifically, the trunk comprises a pair of middle plates 1, a plurality of support rods 2 are arranged between the pair of middle plates 1, the plurality of support rods 2 serve as a framework and support the middle plates 1 and accommodating cavities formed in the middle plates 1, the support rods 2 are fixedly connected with the middle plates 1 or are detachably connected with the middle plates 1 through combined cover nuts; a support frame one 12 is arranged at an upper portion of the accommodating cavities in the middle plates 1, and the support frame one 12 is used for fixing a main control assembly 26.

[0042] In the embodiment, an STM32F405RGT6 is used as a main control chip of the main control assembly, the STM32F405RGT6 is combined with a high-speed embedded memory, a standby SRAM is up to 4Kbytes, a CAN, a serial port Usart and an I2C communication interface are equipped on a mainboard, two system indicator lights are on-board, a posture sensor MPU6050 is provided, a flash W25Q64 is stored, the flash W25Q64 is provided with two linear voltage stabilizing diodes and a linear voltage reduction IC, and other circuits include a buzzer driver, a high-power Mos tube for illuminating an LED, and four travel switch interfaces.

[0043] A support frame two 13 and a support frame three 14 are arranged at a middle portion of the accommodating cavities in the middle plates 1, the support frame two 13 is used for fixing a driver assembly 25, and the support frame three 14 is used for fixing an encoder assembly (not shown in the figure).

[0044] In the embodiment, the driver assembly 25 comprises two odrive drivers, the drivers are used for driving a driving motor one 7; the encoder assembly comprises an encoder and a power distribution plate, the drivers communicate with AS5047p magnetic encoders through spi, and can realize automatic entering into a position closed loop and a torque closed loop at startup.

[0045] A support frame four 15 is arranged at a lower portion of the accommodating cavities in the middle plates 1, and the support frame four 15 is used for fixing a battery assembly 27.

[0046] In the embodiment, the battery assembly 27 comprises two 2300mA model airplane batteries, the battery assembly 27 provides electric energy for each part of the device, and is connected with each assembly of the device in a conventional manner.

[0047] The lower end surface of the support frame four 15 is connected with a working part, and it needs to be noted that the working part is detachably connected to the lower end surface of the support frame four 15, and the content of the working part can be adjusted according to actual work needs.

[0048] Please refer to Figures 8 to 9 In the embodiment, the working part includes a base 11, and the base 11 is provided with a caliper assembly; the caliper assembly includes a driving motor three 20, the output shaft of the driving motor three 20 is fixedly connected with the center part of a rotating disc 21, the two ends of the rotating disc 21 are rotatably connected with one end of a bent plate 22, and the other end of the bent plate 22 is connected with a caliper 10; the specific working process is that the driving motor three 20 drives the rotating disc 21 to rotate, the rotating disc 21 drives the bent plate 22 to move, and the bent plate 22 drives the caliper 10 to complete the opening or closing action.

[0049] The intermediate plate 1 is provided with a driving motor one 7 relative to the outer side, and the output shaft of the driving motor one 7 is connected with a pulley one 6; the intermediate plate 1 and the driving motor one 7 are provided with a pulley support 23 below; the side, away from the working part, of the driving motor one 7 and located on the intermediate plate 1 is provided with a back plate 28, the back plate 28 is used for auxiliary fixing of the driving motor one 7, and the back plate 28 is provided with a shaft structure, which is connected with the driven leg 4 (driven leg upper support 42) through the shaft structure; in the embodiment, the trunk part is connected with the walking part through the pulley one 6, the pulley support 23 and the back plate 28.

[0050] In the embodiment, the driving motor one 7 is a high-power brushless motor, and the specific model is 430KV-5208 brushless motor.

[0051] Please refer to Figures 4 to 7 The walking part includes two driving legs 3, two driven legs 4 and two small legs 5.

[0052] Specifically, please refer to Figure 6 The driving leg 3 includes a driving leg support 31, one end of the driving leg support 31 is fixedly connected with a pulley two 8, and the pulley two 8 is connected with the intermediate plate 1 through the pulley support 23; the other end of the driving leg support 31 is connected with the small leg 5 through the F695ZZ micro bearing.

[0053] Please refer to Figure 7 The driven leg 4 includes a driven leg support 41 and a driven leg upper support 42 and a driven leg lower support 43 which are detachably connected with the driven leg support 41 respectively; the driven leg upper support 42 is connected with the back plate 28 through the bearing, and the driven leg lower support 43 is connected with the small leg 5 through the bearing.

[0054] Please refer to Figures 8 to 9The lower leg 5 comprises a lower leg support 51, one end of the lower leg support 51 is connected with a lower leg arm 52, the end of the lower leg arm 52 away from the lower leg support 51 is connected with a driving motor two 16, the output shaft of the driving motor two 16 is connected with a moving wheel 17; the driving motor two 16 is connected with a motor encoder 18.

[0055] In the embodiment, the driving motor two 16 also adopts a high-power brushless motor, and the specific model is 330KV-3208 brushless motor; the motor encoder 18 is of the model AS5047P encoder.

[0056] The other end of the lower leg support 51 is respectively connected with an omnidirectional wheel inner support 53 and an omnidirectional wheel outer support 54, the omnidirectional wheel outer support 54 is connected in close contact with the outer wall of the lower leg support 51; a gap is arranged between the omnidirectional wheel inner support 53 and the inner wall of the lower leg support 51, and the omnidirectional wheel inner support 53 and the omnidirectional wheel outer support 54 are fixed through a plurality of plug screws 55; the omnidirectional wheel 19 is arranged between the omnidirectional wheel inner support 53 and the omnidirectional wheel outer support 54 and away from one side of the lower leg support 51.

[0057] In the embodiment, the omnidirectional wheel inner support 53 and the omnidirectional wheel outer support 54 are fixed through three plug screws 55; the first plug screw, the second plug screw and the third plug screw are sequentially arranged from the direction close to the lower leg support 51 to the direction away from the lower leg support 51, and since the gap is arranged between the omnidirectional wheel inner support 53 and the omnidirectional wheel outer support 54 at both ends of the plug screw 55, the first plug screw is rotationally connected with the driving leg support 31 of the driving leg 3, the second plug screw is rotationally connected with the driven leg lower support 43 of the driven leg 4, and the third plug screw is provided with the omnidirectional wheel 19.

[0058] In the embodiment, the first plug screw and the driving leg support 31 and the second plug screw and the driven leg lower support 43 are both sleeved with a shaft sleeve, so that the driving leg support 31 and the driven leg lower support 41 can move around the plug screw; the omnidirectional wheel 19 can freely move between the omnidirectional wheel inner support 53 and the omnidirectional wheel outer support 54 to provide more degrees of freedom of movement; the model of the plug screw 55 is D5-L45-M4 plug screw.

[0059] The specific working states of the application include a squatting and standing state, an advancing and retreating state and a left and right turning state, and the specific process is as follows:

[0060] (1) Squatting standing state: the driving motor one 7 drives the pulley one 6 to rotate, thereby driving the pulley two 8 through the synchronous belt 9, and transmitting the torque output by the driving motor one 7 to the lower leg 5; cooperate with the driven leg lower support 43, the driven leg upper support 42, the driven leg support 41, form a hinge four-bar structure; when the driving motor one 7 rotates forward, the walking part is driven to contract upward through the above structure, thereby completing the squatting action, so as to complete the crawling forward action or cross the height obstacle and other work; when the driving motor one 7 reverses, the walking part is driven to stretch downward through the above structure, thereby completing the standing action; by controlling the driving motor one 7, the different states of the robot can be switched and adjusted, such as the highest posture, the lowest crawling posture and the intermediate posture to meet the actual work needs;

[0061] (2) Forward and backward state: the driving motor two 16 drives the moving wheel 17, when the driving motor two 16 rotates forward, the robot is in the forward state, when the driving motor two 16 reverses, the robot is in the backward state;

[0062] (3) Left and right steering state: the output direction of the left and right driving motor two 16 is controlled to realize the steering action of the robot; specifically, when the left driving motor two 16 rotates forward and the right driving motor two 16 reverses, the robot can be steered to the right; when the right driving motor two 16 rotates forward and the left driving motor two 16 reverses, the robot can be steered to the left.

[0063] The overall motion of the wheeled biped robot provided by the application mainly includes joint motion driven by the driving motor one 7 and foot end motion driven by the driving motor two 16.

[0064] Specifically, the foot end motion is planar motion including planar forward and backward movement, planar rotation and balance movement; the joint motion includes standing motion, jumping motion and adaptive motion matching the ground height of the robot body; since the joint motion and the foot end motion can be regarded as two independent parts, they are decoupled into two parts, a kinematics model is established through the actual physical quantity of the robot, a discrete control model is obtained, so that the controller can control the robot, wherein the joint motion driving motor (i.e. the driving motor one 7) uses position control mode, and the foot end motion driving motor (i.e. the driving motor two 16) uses torque control mode.

[0065] A control method of a wheeled biped robot, including joint motion driven by the driving motor one 7 and foot end motion driven by the driving motor two 16;

[0066] The control method of the foot end motion includes the following steps:

[0067] S1, establishing a wheeled planar dynamics model;

[0068] S2, a wheeled steering dynamics model is established;

[0069] The control method of the articulation comprises the following steps:

[0070] S3, a leg support kinematics model is established;

[0071] S4, a leg jumping kinematics model is established.

[0072] In this embodiment, the method for establishing the wheeled planar dynamics model and the wheeled steering dynamics model in S1 and S2 is: force and torque balance equations are established for the driving wheels respectively, and force and torque balance equations after the center of mass is translated, so as to obtain complete driving wheel dynamics models and steering dynamics models.

[0073] In this embodiment, the method for establishing the leg support kinematics model in S3 is: through motion analysis of the leg rods, it is assumed that the robot foot end point moves approximately in a straight line within a set range, the relationship between the robot joint motor angle and the foot end height is calculated, a polynomial is obtained through multiple linear fitting, so that the controller can directly map the robot body height to the joint motor angle, and a posture control matrix is established for the robot body, so that the remote controller can control the roll angle and yaw angle of the robot;

[0074] The method for establishing the leg jumping kinematics model in S4 is: after the robot leg rods, joint connection mode, number and type are determined, the motion speed of the robot foot end point is controlled according to the motion state and target of the robot, and combining energy conversion and loss, gravity center control, landing impact and the influence of load factors, the corresponding leg jumping kinematics equation is established, so as to obtain the lowest jumping speed and the highest jumping speed required for the robot to leave the ground.

[0075] Specifically, the foot end motion is mainly divided into three kinds of motions: planar, rotation and balance, and finally a control torque is applied to the foot end motor to achieve the control purpose. Since the foot end motion of the wheeled biped robot can be regarded as a simplified inverted pendulum model, force and torque balance equations are established for the driving wheels respectively, and force and torque balance equations after the center of mass is translated, so as to obtain complete driving wheel dynamics equations.

[0076] The steering motion of the wheeled biped robot mainly relies on the speed difference between the left and right driving motors to adjust the direction, and the balance equation is established in the same way to obtain the dynamics equation of the steering motion.

[0077] About the joint movement, including leg support movement and leg jumping movement; Specifically, when the wheeled biped robot is in a static state, the left and right drive wheels are always in contact with the ground in this case, and the leg is in a support phase at this time. Through the movement analysis of the leg bar, it is concluded that the foot end point makes approximate straight line motion in the set range when adjusting the height of the robot (only one motor is used, and the bar mechanism is designed), in order to simplify the operation amount of the controller, the relationship between all joint motor rotation angle θ and foot end height is calculated in advance, and a polynomial is obtained through multiple linear fitting, so that the controller can directly map the body height to the motor rotation angle, and the posture control matrix of the body is established, so that the remote controller can control the roll angle and yaw angle of the robot.

[0078] When designing the leg jumping movement, the speed of the foot end point of the wheeled biped robot needs to be controlled during jumping, and the lowest and highest jumping speeds required for the robot to take off under the current load need to be calculated in advance during design.

[0079] In the description of the present application, it should be pointed out that, unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "sleeved / connected", "connected" and the like should be understood in a broad sense, for example, "connected" can be fixedly connected, or can be detachably connected, or integrally connected; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0080] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A control method for a wheeled bipedal robot, characterized in that: The wheeled bipedal robot includes a torso and a walking part and a working part connected to the torso respectively; the torso includes a pair of intermediate plates (1), and a plurality of support rods (2) are arranged between the intermediate plates (1); a battery assembly (27), a driver assembly (25), an encoder assembly and a main control assembly (26) are respectively arranged between the pair of intermediate plates (1); a drive motor (7) is arranged on the outside of the intermediate plate (1), and a pulley (6) is connected to the output shaft of the drive motor (7); The walking part includes an active leg (3), a driven leg (4), and a lower leg (5); the active leg (3) includes an active leg support (31), one end of which is connected to a pulley two (8), and the other end of which is connected to the lower leg (5); a synchronous belt (9) is connected between the pulley one (6) and the pulley two (8); the pulley two (8) is connected to the intermediate plate (1) through a pulley support (23); the driven leg (4) includes a driven leg support (41) and a driven leg upper support (42) and a driven leg lower support (43) respectively connected to the driven leg support (41); the driven leg upper support (42) is connected to the torso, and the driven leg lower support (43) is connected to the lower leg (5); The working part includes a base (11), which is disposed at the lower part of the torso, and a caliper assembly is disposed on the base (11); The lower leg (5) includes a lower leg support (51), one end of which is connected to a lower leg arm (52), and the end of the lower leg arm (52) away from the lower leg support (51) is connected to a second drive motor (16). The output shaft of the second drive motor (16) is connected to a moving wheel (17); a motor encoder (18) is connected to the second drive motor (16). The control method includes joint movement driven by the first drive motor (7) and foot movement driven by the second drive motor (16); the control method for the foot movement includes the following steps: S1. Establish a wheel-type planar dynamics model; S2. Establish a wheel steering dynamics model; The method for controlling joint movement includes the following steps: S3. Establish a leg support kinematic model; S4. Establish a leg jumping kinematic model; The method for establishing the wheeled planar dynamics model and the wheeled steering dynamics model in S1 and S2 is as follows: establish force and torque balance equations for the drive wheels, as well as force and torque balance equations after the center of mass is translated, to obtain the complete drive wheel dynamics model and steering dynamics model; The method for establishing the leg support kinematic model in S3 is as follows: by analyzing the motion of the leg rods, assuming that the robot's foot tip moves in an approximately linear motion within a set range, the relationship between the robot's joint motor rotation angle and foot height is calculated. A polynomial is obtained through multiple linear fittings so that the controller can directly map the robot's body height to the joint motor rotation angle. At the same time, an attitude control matrix is ​​established for the robot body so that the remote controller can control the robot's roll angle and yaw angle. The method for establishing the leg jumping kinematic model in S4 is as follows: After determining the robot's leg links, joint connection methods, quantity, and type, the movement speed of the robot's foot tip is controlled according to the robot's motion state and target. Combining the effects of energy conversion and loss, center of gravity control, landing impact, and load factors, the corresponding leg jumping kinematic equations are established to obtain the minimum and maximum jumping speeds required for the robot to leave the ground. Squatting and standing positions, forward and backward positions, and left and right turning positions include: Squatting and standing states: Drive motor 1 (7) drives pulley 1 (6) to rotate, thereby driving pulley 2 (8) through synchronous belt (9), and transmitting the torque output by drive motor 1 (7) to the lower leg (5); together with the driven leg lower support (43), driven leg upper support (42), and driven leg support (41), a hinged four-bar structure is formed; when drive motor 1 (7) rotates forward, the above structure drives the walking part to retract upward, thereby completing the squatting action, thus completing the crawling forward action or crossing height-limited obstacles; when drive motor 1 (7) rotates in reverse, the above structure drives the walking part to extend downward, thereby completing the standing action; by controlling drive motor 1 (7), different states of the robot can be switched and adjusted, such as the highest posture, the lowest crawling posture, and the intermediate posture to meet the actual work needs; Forward and backward states: Driven by the second drive motor (16), the robot is in the forward state when the second drive motor (16) rotates forward, and in the backward state when the second drive motor (16) rotates in reverse. Left and right turning states: By controlling the output direction of the two drive motors (16) on the left and right sides, the robot can turn. Specifically, when the left drive motor (16) rotates forward and the right drive motor (16) rotates in reverse, the robot can turn to the right. When the right drive motor (16) rotates forward and the left drive motor (16) rotates in reverse, the robot can turn to the left.

2. The control method for the wheeled bipedal robot according to claim 1, characterized in that: The other end of the lower leg support (51) is connected to the inner bracket (53) and the outer bracket (54) of the omnidirectional wheel, and an omnidirectional wheel (19) is provided between the inner bracket (53) and the outer bracket (54) of the omnidirectional wheel and away from the lower leg support (51).

3. The control method for the wheeled bipedal robot according to claim 2, characterized in that: The omnidirectional wheel outer bracket (54) is fitted to the outer wall of the lower leg bracket (51); there is a gap between the omnidirectional wheel inner bracket (53) and the inner wall of the lower leg bracket (51), and the omnidirectional wheel inner bracket (53) and the omnidirectional wheel outer bracket (54) are fixed by a plurality of screws (55).

4. The control method for a wheeled bipedal robot according to claim 1, characterized in that: The caliper assembly includes a drive motor three (20), the output shaft of which is connected to a rotating disk (21), and two ends of the rotating disk (21) are respectively connected to a bending plate (22), and one end of the bending plate (22) is connected to a caliper (10).

5. The control method for a wheeled bipedal robot according to claim 1, characterized in that: Support frame one (12), support frame two (13), support frame three (14) and support frame four (15) are respectively provided between the intermediate plates (1); support frame one (12) is used to fix the main control component (26); support frame two (13) is used to fix the driver component (25); support frame three (14) is used to fix the encoder component; support frame four (15) is used to fix the battery component (27).

6. The control method for a wheeled bipedal robot according to claim 1, characterized in that: The drive motor (7) is provided with a rear side plate (28) on the side away from the working part, and the driven leg bracket (42) is movably connected to the rear side plate (28).

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