Pliant four-footed robot with flexible waist and elastic legs

Abstract

The invention relates to a four-footed walking robot, and specifically relates to a pliant four-footed robot with a flexible waist and elastic legs. The pliant four-footed robot is divided into several parts, namely a front torso, a vertebral column, a waist, a back torso and four legs with the same structures; a bearing in the front torso or the back torso and flanged shafts on all the legs forma rotating pair; the front torso is connected with the vertebral column by using the rotating pair and is driven by a motor and a gear set, so that a body of the robot has a pitching degree of freedom; the vertebral column is connected with the waist by using a rotating pair with a torsion spring, so that the body of the robot has a transverse rolling degree of freedom; the waist is connected with the back torso also by using a rotating pair with the torsion spring, so that the body of the robot has a deflection degree of freedom; leg parts of the robot consist of thighs and shanks, which areall driven by the motor and the gear set; and the shanks are provided with compression springs, so that the ground impact force is decreased when the robot walks. By using the pliant four-footed robot, a conventional rigid structure is placed with a flexible structure; the movement stability of the robot is increased; and the impact of the robot is decreased.

Description

technical field [0001] The invention relates to a quadruped walking robot, in particular to a compliant quadruped robot with a flexible waist and elastic legs. Background technique [0002] In the field of quadruped walking robots, BigDog produced by Boston Dynamics is the highest technological achievement of quadruped robots. It can adapt to various terrains such as ice, snow, grass, etc., and shows super anti-lateral disturbance ability. Most quadruped robots use a rigid waist, that is, the entire torso is a rigid whole, so that the robot's motion flexibility is poor. In order to improve the motion stability of the robot, some quadruped robots have also been designed with a flexible waist. For example, the SQ43 quadruped robot developed by the JSK Laboratory of the University of Tokyo in Japan has a flexible spine, which makes the robot's movement smooth, and has a certain vibration reduction effect, enabling it to pass through some narrow passages and irregular terrain. ...

AI Technical Summary

Problems solved by technology

[0004] The present invention aims at the problems that most of the waists and legs of the current quadruped robots adopt rigid structures, resulting in poor motion stability, uncoordinated motion, large impact force of the legs, and high energy consumption, and provides a flexible waist and legs. Quadruped robot with elastic legs

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