Differential guiding device for leg of multi-legged robot

Abstract

The invention relates to a differential guiding device for a leg of a multi-legged robot, and the device comprises a flexible leg, a rigid guiding post, a spring, an electromagnet and an end cover, wherein the top of the flexible leg is connected with the end cover; the rigid guiding post, the spring and the electromagnet are arranged in the flexible leg from the bottom up in sequence; lugs are arranged on the side face of the rigid guiding post; cross slots protruding from the lugs are fixed on a rack at the leg of the robot; the spring is connected with the rigid guiding post; the electromagnet is connected with a control circuit by a wire; when the robot is required to turn, the control circuit controls the electromagnet in the leg of the robot on the side to be powered on; an adsorption force is generated by the electromagnet to absorb the rigid guiding post to ascend; at the moment, the lower part of the flexible leg touches the ground; the flexible leg performs flexural deformation; and the effective length of the leg is reduced, so that an advancing step length of the leg is reduced, and a turning action is accomplished. Compared with the prior art, the differential guiding device has the advantages of compact structure, quickness in adjustment, good ground adaptivity and the like; turning of the legged robot can be realized; and the walking performance can be improved effectively.

Description

technical field [0001] The invention belongs to the field of bionic robots, in particular to a differential guiding device for legs of a multi-legged robot. Background technique [0002] The dexterous movements of bionic robots are of great help to human production and scientific research activities, and bionic robots have become an important direction in the field of robotics research today. [0003] As an important part of bionic robot, multi-legged robot has agility, flexibility and strong adaptive ability in complex terrain. Compared with wheeled or tracked robots, legged robots have better motion performance in hills and swamps that exceed 50% of the earth's land surface. As a component of legged robots, the foot mechanism has an extremely important impact on the performance of the robot. [0004] In 2001, the University of Michigan developed a new type of multi-drive multi-legged robot, each leg is provided with a drive. When turning, the motor carried by each leg i...

AI Technical Summary

Problems solved by technology

In 2002, Shanghai Jiaotong University proposed a six-legged micro-robot, but it could not realize the turning function and the walking stability was not strong

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