轮腿式机器人多运动模式运动学分析与建模

轮腿式移动机器人具有轮式、履带式和腿式等多种运动模式,对不同运动模式下的运动特性进行了分析,建立了轮式运动模式下的运动学方程,对履带运动模式下的转向运动学进行了运动学建模；通过对机器人在腿式模式的姿态描述,建立其运动学模型。为对轮腿式机器人进行综合运动分析,实现机器人控制提供了理论基础。

Kinematic Modeling of Wheel-legged Robot with Multi-locomotion Modes

Aiming at the moving requests of the miniature mobile robot under the environment of indoors and outdoors, a miniature track-wheel-legged mobile robot with multiple moving modes such as wheeled, tracked and legged locomotion was designed. Kinematic modeling is described and kinematic equations are derived based on its legged mode, which can supply a theoretic base of coupled posture control of stability and traction optimization of HWLV mobile robot, building the coupled optimization criteria, and realizing the coupled optimization with the posture control.