Bionic elastic spine mechanism of quadruped robots

A quadruped robot and spine technology, applied in the field of robotics, can solve the problems of lack of elastic spine, lack of a quadruped robot to run at high speed, etc. Effect

Active Publication Date: 2012-09-19
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the bodies of most quadruped robots are rigid structures at present, and there is no flexible elastic spine, such as Boston Dynamics' "BigDog", "AlphaDog" and "LittleDog", Tokyo Institute of Technology's "TITAN" series quadruped robots And Japan's "TEKKEN" series of quadruped robots, etc., due to the lack of flexible elastic spine, these quadruped robots are difficult to achieve high-speed running

Method used

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  • Bionic elastic spine mechanism of quadruped robots
  • Bionic elastic spine mechanism of quadruped robots
  • Bionic elastic spine mechanism of quadruped robots

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Embodiment Construction

[0015] Preferred embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0016] Such as figure 1 As shown, a quadruped robot bionic elastic spine mechanism includes a front spine part, a rear spine part, an elastic joint part and a pneumatic muscle part, wherein one end of the front spine part is connected with one end of the rear spine part through the elastic joint part, and the front spine part The other end of the section is connected to the other end of the posterior spine section via the Pneumatic Muscle section. The front spine part includes the left front spine block 1, the right front spine block 2, the left front leg fixing seat 10, the right front leg fixing seat 11, the tendon front coupling shaft 12, the front spine block connector 8 and the posture sensor 9; the rear spine part includes the rear spine block 3. The left rear leg fixing seat 13, the right rear leg fixing seat 14, the tendon rear couplin...

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Abstract

The invention relates to a bionic elastic spine mechanism of quadruped robots. Two left and right symmetrical torsion springs are mounted on spinal rotation joints, accordingly, the rotation of the spinal joints and the bending of the torsion springs are restrained together, the torsion springs deforms along with the bending of the spinal joints to produce reverse direction torque and store elastic potential energy. A pneumatic muscle tendon is connected to two ends of the spine, the rotation of the spinal joints is controlled by the active expansion of the pneumatic muscle tendon, elastic coefficients of the whole elastic spine can be changed by regulating the expansion speed of the pneumatic muscle tendon, and simultaneously, the elasticity of the pneumatic muscle tendon can also assist in storing energy and restraining the moving range of the spinal joints. The bionic elastic spine mechanism can effectively improve the moving capacity of quadruped robots, and enhance utilization efficiency of energy.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a bionic elastic spine mechanism of a quadruped robot. Background technique [0002] Due to its superior performance on rough roads over traditional wheeled and tracked robots, as well as its application potential in military, aerospace, production, transportation and other fields, quadruped robot technology research is a research hotspot in the field of robotics. with one of the leading edge directions. [0003] Actual quadrupeds, especially cats such as cheetahs and lions, have elastic spines that can flexibly bend and stretch, which can store and release energy during quadruped movement, increase the range of motion of the legs, and effectively improve running Speed, jump height and distance. However, the bodies of most quadruped robots are rigid structures at present, and there is no flexible elastic spine, such as Boston Dynamics' "BigDog", "AlphaDog" and "LittleDog", Tokyo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 李超吴俊熊蓉
Owner ZHEJIANG UNIV
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