文献类型：期刊文献

英文题名：Construction and Motion Analysis of a Bipedal Wheel-Legged Self-Balancing Robot Driven by Tendon Mechanism

作者：Zhang, Huan[1]; Lyuzhang, Zhijun[2]

第一作者：张欢

机构：[1] Beijing Union University, Smart City College, Beijing, China; [2] RDFZ XiShan School, Beijing, China

第一机构：北京联合大学智慧城市学院

年份：2026

外文期刊名：Proceedings - 2026 International Conference on Robotics, Automation and Intelligent Transportation Systems, RAITS 2026

收录：EI(收录号：20262921139203)

语种：英文

外文关键词：Belt drives - Electric drives - Electric machine control - Electric motors - Gears - Intelligent robots - Mobile robots - Motion analysis - Rope - Wheels

摘要：In order to move on uneven or unpaved roads as to move like flat terrain, a bipedal wheel-leg self-balancing robot was designed to resolve this problem. The proposed robot is different from traditional belt or gear systems, we adopt rope transmission, with a simpler structure, lighter weight and having more sufficient space to use. The proposed robot is called Mondelez Pi, which is a lightweight, rope-driven bipedal wheel-leg self-balancing robot. It is optimized for robustness in harsh environments. The designed robot includes three modules: one is the torso with on-board electronics, the second is wheel-legs for movement, and the third part is control module which integrates sensing, driving and balancing functions. The hardware is centered on the Raspberry Pi, paired with the mjbots pi3hat expansion board, the mjbots power distribution board and the mjbots moteus r4 motor controller. Eleven DC brushless motors are adopted for driving. Motion analysis is produced. These components ensure precise motor control, stable balance, and can also adapt to various types of terrains. ? 2026 IEEE.