Six-foot walking robot

A walking robot and robot technology, applied in the field of robotics, can solve problems such as destroying the original state of the ground surface, and achieve the effects of improved movement coordination, high reliability, and clear task division

Inactive Publication Date: 2012-07-11
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Although the tracked robot weakens this problem to a certain extent, it cannot be overcome in essence. At the same time, the track that is re

Method used

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Embodiment Construction

[0022] The present invention will be further described below in conjunction with accompanying drawing.

[0023] Such as figure 1 Shown, the present invention is made up of hexapod walking robot mechanical body and hexapod walking robot control system.

[0024] The mechanical body of the hexapod walking robot includes a frame and robot legs. The frame includes the fuselage and 6 leg fixing plate sets. The fuselage comprises a fuselage upper plate 7 and a fuselage lower plate 8, the fuselage upper plate 7 is located directly above the fuselage lower plate 8, and the upper fuselage plate 7 and the fuselage lower plate 8 are distributed with holes symmetrical up and down at equal intervals, It is convenient to adjust the installation position of the leg fixing plate group. A set of leg fixing plates includes two leg fixing plates with the same structure. The leg fixing plates are in the shape of a right angle. There are equally spaced holes distributed on the surface where the ...

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Abstract

The invention discloses a six-foot walking robot. The conventional walking robot has a complicated mechanical structure and high energy consumption, is complicatedly controlled and does not adapt to environments with complicated terrains. The six-foot walking robot comprises a six-foot walking robot machine body and a six-foot walking robot control system, wherein the six-foot walking robot machine body comprises a frame and machine legs; the frame comprises a body and six leg fixing plate groups; the body comprises an upper body plate and a lower body plate; each robot leg has the same structure, comprises a hip part, a thigh, a shank and a foot and has three degrees of freedom; the six robot legs are uniformly distributed on the two sides of the frame; and the control system comprises a central controller, an electronic compass, a force sensor, a battery and an encoder. The six-foot walking robot has a simple and compact structure, a high energy utilization rate, high flexibility and high environment adaptability and is simply and reliably controlled.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a hexapod walking robot. Background technique [0002] The movement modes adopted by mobile robots mainly include wheeled, crawler, footed, hybrid and other forms of movement, among which wheeled robots are the most widely used. As we all know, wheeled robots have the advantages of fast speed, good stability, and easy control, but they have high requirements for the environment and require relatively flat and continuous ground conditions, so their application has its limitations. Although the tracked robot weakens this problem to a certain extent, it cannot be overcome in essence. At the same time, the track that is relatively heavy and has a large contact area often brings a series of new problems such as destroying the original state of the ground surface. The multi-legged walking robot can walk stably on uneven roads, and can replace wheeled and tracked robots to c...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 金波陈刚陈诚陈鹰
Owner ZHEJIANG UNIV
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