Hexapod robot capable of travelling in rolling manner

Abstract

The invention discloses a hexapod robot capable of travelling in a rolling manner. The hexapod robot comprises a hexagonal complete machine bracket, a control and detection module fixedly arranged above the complete machine bracket, and six foot mechanisms respectively fixed on six edges of the complete machine bracket, wherein the six foot mechanisms are same in structure forms, and comprise upper limb mechanisms, middle mechanisms and lower limb mechanisms. The hexapod robot walks depending on feet under the condition of a rugged and bad road; and when the hexapod robot meets a flat rod and a downhill road, all the foot mechanisms coordinate under the control of a central control unit to complete the gesture switching from walking to rolling. According to the hexapod robot, in comparison with the conventional mode of configuring a mechanism close to the hexapod robot body to the transverse oscillating freedom, the mode of configuring a drive mechanism close to a hexapod robot body to the lifting control freedom has the advantage of improving the obstacle crossing ability; the redundancy of a movement mechanism of the hexapod robot ensures that the hexapod robot can travel after a certain joint fails; and the hexapod robot can complete the grabbing action depending on two legs, and thus the capability of executing a task is improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a hexapod obstacle-surmounting robot that can walk with legs and roll. Background technique [0002] It has many advantages: Compared with wheeled robots, footed robots have better adaptability and obstacle avoidance walking ability on rough roads and harsh road conditions; compared with crawler robots, footed robots have lighter weight and better coupling of walking mechanisms. It is weak, and can continue to walk after a certain degree of freedom mechanism fails. Legged robots, especially hexapod robots, have good road adaptability, high-speed maneuverability, walking stability and structural reliability, and can easily cross obstacles. Therefore, hexapod robots are widely used in dangerous area detection, disaster rescue and other fields. [0003] At present, many hexapod robots have appeared. These robots are generally driven by connecting rods and can achieve functions such a...

AI Technical Summary

Problems solved by technology

[0003] At present, many hexapod robots have appeared. These robots are generally driven by connecting rods, and can achieve functions such as obstacle surmounting, but it is difficult to overcome obstacles that exceed their own height; and the system is relatively complicated and difficult to control.

The current hexapod robots have better obstacle-surmounting ability, but it is difficult to walk at high speed on flat roads

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