This invention relates to the field of
robotics, and more particularly to a highly realistic
humanoid robot based on a
hybrid wheel-foot drive
system, comprising a
torso module, a wheel-foot module, and a control module. The wheel-foot module includes a foot-like
subunit for walking, and sliding wheels that are movably nested on it via a transmission
subunit to perform sliding. The control module coordinates
mode switching and balance. The sliding wheels are raised and lowered independently through a transmission mechanism, completely decoupling the kinematic interference between the wheel and foot at the
physical level, ensuring efficient and seamless switching between the two
modes. In addition, relying on the underlying
coupling algorithm, the wheel-foot torque is finely adjusted, and when facing the tipping point, the upper limbs can be instantly linked to brace the ground, the sliding wheels can be reversed, and the internal counterweights can be moved forward to force a reconstruction of the physical center of gravity. This greatly reduces the
robot's
fall rate from the mechanical source, effectively giving the entire
robot unprecedented all-
terrain dynamic anti-
rollover capability and safety redundancy for actual combat operations.