Wheel-Foot Robot Motion Control for Terrain-Adaptive Mobility
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Solution Overview
Problem
Mobile robots, including wheeled and foot-type robots, face limitations in adaptability to diverse terrain environments, with wheeled robots being fast but limited to even terrain and foot-type robots being slow on complex terrain.
Innovation Solution
A wheel-foot composite robot structure with environmental sensing capabilities that dynamically adjusts motion modes based on surrounding information, allowing it to navigate both even and complex terrains.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a wheeled robot structure is used, then the moving speed is fast, but the robot can only be applied to a relatively even terrain environment
Solution Approach 1:
The patent combines wheeled and foot-type motion mechanisms into a single robot body, creating a composite robot that can switch between rolling and walking modes. The wheeled mechanism provides fast movement on even terrain, while the foot-type mechanism enables navigation on complex terrain, merging the advantages of both structures.
Solution Approach 2:
The robot dynamically switches between wheeled and foot-type motion modes based on the terrain environment. The motion mechanism can transition from a rolling state to a walking state and vice versa, allowing the robot to adapt its motion characteristics to different terrain conditions for optimal performance.
2Adaptability or versatility
If a foot type robot structure is used, then the robot can be adapted to a relatively complex terrain environment, but the moving speed is slow
Solution Approach 1:
The patent integrates both foot-type and wheeled motion mechanisms within the same robot body. The foot-type mechanism provides adaptability to complex terrain, while the wheeled mechanism contributes high-speed capability on suitable surfaces, combining the strengths of both approaches.
Solution Approach 2:
The robot employs dynamic mode switching between foot-type walking and wheeled rolling based on real-time terrain assessment. This allows the robot to use the foot-type mechanism for adaptability when needed while transitioning to the faster wheeled mode when terrain permits, optimizing both speed and adaptability.
3Adaptability or versatility
If a wheel-foot composite robot structure is used, then the adaptability to different motion environments is improved, but the device complexity increases
Solution Approach 1:
The robot's motion mechanism serves multiple functions by integrating both wheeled and foot-type capabilities into a unified system. The same mechanical components can operate in different modes (rolling or walking) depending on terrain requirements, reducing the need for completely separate systems and managing complexity through multi-functionality.
Data Source
AI summary
The present disclosure provides a method and a device of controlling motion of a robot, a robot and a storage medium, wherein the robot is a wheel-foot composite robot including at least one environmental sensing sensor, and the method includes: controlling the environment sensing sensor to acquire surrounding environmental information; determining a target motion mode of the wheel-foot composite robot based the surrounding environmental information; and controlling the motion of the wheel-foot composite robot based on the target motion mode.