Three-legged robot capable of turning over in midair in crossed mode

The invention relates to the design of a three-legged robot capable of turning over in the midair in a crossed mode. The three-legged robot capable of turning over in the midair in the crossed mode comprises a top disc and a leg system. According to the design, the three-legged robot is characterized in that the three-legged robot can move flexibly and is stable, and the movement plan with the crossed turning as the core is achieved. A closed loop type distribution control structure is adopted, and ten main degrees of freedom are used for completely determining the moving posture of the robot. According to the leg design, different requirements for wide-range adjustment and small-range adjustment in application are considered, and installation of a sensing device is facilitated in practical use. According to the design of the top disc, based on the purpose of lowering control difficulty, a planet wheel structure is designed, the freedom degree control is replaced with electric motor positioning control, the structure is compact, and the control accuracy of an execution mechanism is improved through a closed loop structure. The three-legged robot capable of turning over in the midair in the crossed mode has the advantage of being capable of advancing on ordinary planes and rugged and smooth road surfaces. A solution to the problem of the design bottleneck, high cost and the like of an existing legged robot is provided. The three-legged robot capable of turning over in the midair in the crossed mode can be widely applied to production and living and has broad application prospects in the fields such as the field of reconnaissance and the field of sensing and personnel detection.