针对非结构化环境中轮履机器人越障能力不足的问题,提出一种新型轮-履-腿复合式移动机器人。基于动态位姿变换矩阵建立轮-履-腿复合式机器人运动学模型,针对该机器人特有的前后支撑腿结构,提出一种在非结构化环境下基于履-腿混合运动模式的新型越障方案,并对该越障方案进行约束条件分析,得出其在翻越障碍物时的非线性关系模型。 Aiming at the problem that the cross-obstacle abilities of wheel-robots in unstructured environment are not enough, a new wheel-track-leg compound mobile robot is proposed. Based on dynamic pose transformation matrix, a kinematic model of wheel-shoe-leg hybrid robot is established. Aiming at the unique front and rear support leg structure of this robot, a new obstacle-avoidance scheme based on leg-leg hybrid motion is proposed in unstructured environment , And analyzed the constraint condition of the obstacle avoidance scheme and obtained its nonlinear relationship model when overturning obstacles.