A four-degree-of-freedom-based quadruped wheel-legged robot inverse kinematics calculation method

CN117556559BActive Publication Date: 2026-06-26BEIHANG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
BEIHANG UNIV
Filing Date
2023-11-13
Publication Date
2026-06-26

AI Technical Summary

Technical Problem

In the existing technology, the leg-wheel fusion type quadruped wheel-leg robot cannot effectively resolve the non-holonomic constraints of the wheel structure, resulting in large inverse kinematics calculation errors, which reduces the accuracy of robot motion planning and control.

Method used

A four-degree-of-freedom inverse kinematics calculation method is adopted, which combines spinor theory and wheel structure geometry to design an initial value solution method. The inverse kinematic equations are solved by the Levenberg-Marquardt numerical method to ensure the accuracy and real-time performance of the calculation.

Benefits of technology

It improves the accuracy and efficiency of inverse kinematics calculation, reduces errors and disturbances in robot motion, and enhances the robot's motion stability.

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Abstract

The application discloses a kind of four-legged wheeled robot inverse kinematics calculation methods based on four degrees of freedom, belong to the field of robot control.The application first designs the desired input body pose, foot end position and wheel yaw angle, then, using the screw theory to solve the forward kinematics equation of single leg end, the motion relative relationship of absolute space is mapped to single leg inverse kinematics equivalent numerical equation, the initial value of design solving method is designed, finally, Levenberg-Marquardt numerical method is used to solve four nonlinear equations.The application realizes the precise inverse kinematics calculation of four-legged wheeled robot fast and accurately, both accuracy and real-time performance of calculation are guaranteed.The application can be used for the inverse kinematics calculation of four degrees of freedom four-legged wheeled robot.
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