Wheel-leg separation type quadruped robot and control method thereof

The invention discloses a wheel-leg separated quadruped robot and a control method thereof.The wheel-leg separated quadruped robot comprises a robot body, four wheel-leg separated hybrid wheel-leg mechanisms are symmetrically arranged on the left side and the right side of the robot body, and each hybrid wheel-leg mechanism comprises a first motor, a second motor, a first clutch, a second clutch, wheels, a transmission case and parallel legs; the first motor is a double-output-shaft motor, an output shaft of the second motor is connected with the first motor through the parallel legs, one end of the output shaft of the first motor is connected with the parallel legs through the second clutch, the other end of the output shaft of the first motor is connected with the input end of the transmission box through the first clutch, and the output end of the transmission box is connected with the wheels. According to the wheel-leg separation type quadruped robot, three control modes are provided, the wheel-leg separa