A deformable wheel-legged amphibious quadruped robot and a motion control method thereof
By using deformable wheel-leg mechanism and buoyancy adjustment system, the problem of insufficient mobility of existing amphibious robots on land and underwater has been solved, realizing efficient switching between wheel rolling, leg obstacle crossing and underwater propulsion, and improving the mobility efficiency and energy utilization of amphibious robots.
Patent Information
- Authority / Receiving Office
- CN Β· China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- TIANJIN POLYTECHNIC UNIV
- Filing Date
- 2026-06-02
- Publication Date
- 2026-07-17
AI Technical Summary
Existing amphibious robots present a contradiction between land mobility, underwater propulsion, structural compactness, and buoyancy adaptability. They struggle to balance wheeled rolling, legged obstacle crossing, and underwater propulsion capabilities, and suffer from problems such as low underwater propulsion efficiency, complex structure, and high energy consumption.
It adopts a deformable wheel-leg mechanism, including four sets of deformable wheel legs, a transmission mechanism and a buoyancy adjustment system. By switching between wheel type, land leg type and aquatic leg type modes, the wheel-leg mechanism can switch between rolling on land, overcoming obstacles on land and underwater propulsion. It uses a coaxial nested drive structure to reduce underwater resistance, and uses an open water-filled structure in conjunction with an independent sealed chamber to achieve protection and buoyancy adjustment.
It enables configuration switching and actuation within a relatively small lateral space, reduces underwater drag, improves the efficiency and energy utilization of amphibious movement, and meets the needs of continuous operation in complex environments.
Smart Images
Figure CN122402148A_ABST