Design And Control Of A Wheel-biped Switchable Robot System

The application of robots continues to appear in various scenarios in life and production,and a major problem that restricts the widespread application of mobile robots in human settlements is the efficiency of robot movement.Although traditional humanoid robots or bipedal robots have better environmental adaptability and can adapt to different road surfaces through the structure of their legs,due to structural and material limitations,the robot's movement efficiency is low,and it is not suitable for long-term operation and high efficiency.jobs.Although the traditional wheeled robot has good mobility,it lacks the ability to actively adapt to different roads,and it is unable to adapt to complex scenarios such as human settlements.In addition,the wheeled robot interacts with humans compared to humans.The robot lacks a certain affinity.In recent years,there has been a continuous international research on the combination of wheeled and legged structures-bipedal wheeled legged robots,hoping to integrate the advantages of wheeled robots and footed robots to achieve high-speed movement and flexible steering on flat roads.At the same time,the biped structure can be used to adapt to rough roads such as steps.According to the development trend of mobile robots,this topic expects to design a wheel-biped switchable robot which has wheel-foot switching function,and conducts research on the design of the robot's electromechanical system,system modeling,and control strategy design.In response to the functional requirements of the robot,a structural design scheme of the wheel-biped switchable robot was proposed,and 3D modeling and component selection were carried out for the proposed structural design scheme,and then the relevant control system was built to drive and control each module,and finally a compact and lightweight humanoid universal wheel-biped switchable robot prototype was built.Further research on control method was carried out on the prototype.According to the structural characteristics of the robot,kinematics and dynamics modeling are carried out,and its state space equation is established.Based on the above analysis,the corresponding controller and control strategy are designed,including the dynamic variable height wheel balance control and wheel-foot switching control of the robot.Then,the above-mentioned control method was verified by system simulation,and finally it was verified by experiments on the prototype.