The invention provides a composite transformation
mobile robot combining an elastic foot and a wheel type motion mechanism, which comprises a space
machine body frame unit of a foot-wheel composite mobile transformation
robot, driving
wheel drive units, driven wheel driven units, four modular leg units, a control
sensing system unit, a hermetical casing and a power source. The
robot used elastic foot replaces the traditional rigid foot to increase the kinetic stability of the
robot and reduce the vibratility and
impact force of the robot, and is combined with a wheel type moving method, so that the quick mobility and high efficiency of the wheel type movement on a flat ground can be guaranteed, and the excellent maneuverability and strong
obstacle crossing function of the
foot type moving, creeping and climbing motion under complex terrains such as complex mountain environment and city
terrain can be taken into account; as the
foot type composite transformation
mobile robot adopts
modular design, the foot and wheel cannot interfere each other, the maintenance and replacement are convenient, and the motion pattern is flexible and variable; and the athletic ability of the robot is improved in virtue of the
mutual transformation, coordination and combination of the
foot type motion and the wheel type motion.