Research On Legged Motion Control Of A Wheel-leg Combined Cleaning Robot

As a kind of service robot, the cleaning robot has already taken part in people’s daily life. Now most of the cleaning robot are wheel robot,and they can only sweep the floor but can not mop the floor. So the traditional cleaning robot can be improved in structure. This paper presents a new project which can let the tobot mops the floor in foot mode.Firstly, according to the structure of the robot selling on the market and the way how people mop the floor, we discuss the feature of the robot mopping in foot mode and wheel mode. And we propose a method that the robot can mop the floor in foot mode. When the robot is sweeping the floor, its four feet and two arms are stored to working on wheel mode. And when the robot is mopping the floor, the feet and arms are stretching.Meanwhile, the robot use its arms to fix the mop and use its feet to move up instead of its wheels.Secondly, through discussing the feature of the robot mops the floor in foot mode,and analyzing the advantages of traditional four-feet gait, we design an action gait that the cleaning robot can crawl on the ground using its four feet. We also analyze the moving speed and the stability of this gait.Finally, according to the structure of the cleaning robot, we make a real robot. We can use the PC software to control the motion of this four-feet cleaning robot. We design an experiment about the robot mopping the floor in foot mode. The result of the experiment shows that the robot can mop the floor steady in the action gait we have designed. And it verifies the correctness and the feasibility of our method.