一种多模式全向移动机器人攀爬楼梯的步态

针对移动机器人在户外运动中所遇到的台阶、楼梯等复杂地形，设计了一种可攀爬楼梯的多模式全向移动机器人。通过切换运动模态，该机器人既能像传统移动机器人一样快速移动，又具备了足式机器人的越障能力。首先，分析并构建了多模式全向移动机器人的运动学模型；其次，研究了该机器人越障能力和质心位置之间的关系并计算了该机器人可以翻越台阶的...

A Stair-climbing Gait of a Multi-mode Omni-directional Mobile Robot

A multi-mode omni-directional mobile robot capable of climbing stairs is designed to deal with some complex terrains that the mobile robots encounter when moving in outdoor environments, such as steps and stairs. By switching among different motion modes, the robot can move rapidly like traditional robots while possessing an obstacle-surmounting ability like legged robots. Firstly, the kinematics model of the multi-mode omni-directional mobile robot is analyzed and constructed. Secondly, the relationship between the obstacle-surmounting ability and the center-of-mass position of the robot is studied, and the maximum height of steps that the robot can climb over is calculated. Finally, a stair-climbing method is proposed. The experimental results show that the designed obstacle-surmounting method enables the multi-mode omnidirectional mobile robot to successfully and stably climb steps. The maximum height of the step climbed over is 20.94 cm, the maximum angle of the slope climbed over is 35°, and the minimum turning radius is 0 cm.