Biomimetic quadruped robot provided with head and tail balance adjustment devices

A quadruped robot, balance adjustment technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problem that it is difficult for robots to restore balance, and achieve the effect of strong adaptability to complex environments and obstacle surmounting ability

Inactive Publication Date: 2013-07-10
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This kind of center-of-mass adjustment device is only helpful to the balance and stability of the robot under static conditions, and it is difficult to restore the balance of the robot under dynamic instability

Method used

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  • Biomimetic quadruped robot provided with head and tail balance adjustment devices
  • Biomimetic quadruped robot provided with head and tail balance adjustment devices
  • Biomimetic quadruped robot provided with head and tail balance adjustment devices

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Embodiment Construction

[0042] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0043] A bionic quadruped robot with a head-to-tail balance adjustment device, such as figure 1 As shown, the robot includes a torso B, a head balance adjustment device A, a tail balance adjustment device C, a first robot leg D, a second robot leg E, a third robot leg F, and a fourth robot leg G.

[0044] The head servo base A6 in the head adjustment device is fixed on one end of the robot spine B2 by screws.

[0045] The tail servo base C6 in the tail adjustment device is fixed on the other end of the robot spine B2 by screws.

[0046] The structures of the first to fourth robot legs are exactly the same.

[0047] The first leg hip joint servo base D1-1 of the first robot leg D is fixed to the mounting hole B1-a on the first beam B1 of the torso B by screws.

[0048] The second leg hip joint servo base E1-1 of the second robot leg E is fixed to the mounting hole ...

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Abstract

The invention relates to a biomimetic quadruped robot provided with head and tail balance adjustment devices. The biomimetic quadruped robot comprises a trunk, a head balance adjustment device, a tail balance adjustment device and four robot legs, wherein the four robot legs are distributed under the robot trunk, and the head balance adjustment device and the tail balance adjustment device are located on a trunk front portion cross beam and a trunk back portion cross beam. The biomimetic quadruped robot uses a digital steering engine as a driver, and the steering engine can achieve speed and position control and feed back speed, positions, force moment and other information and facilitates on-line observation of a motion state of the robot. Each leg is provided with three driving freedom degrees and one driven extension freedom degree, three-dimensional space motion can be achieved, and the robot can have strong adaptive capacity to complex environments and obstacle crossing ability. The centre-of-gravity position of the robot can be timely adjusted when the robot with the head and tail balance adjustment devices walks in a static state, and the stability of the robot is improved. When the robot is in a unstable state, namely turns over, and reverse rotation force moment is produced by rapidly rotating the head and the tail to prevent the robot from turning over and being restored to be in a balanced state. The biomimetic quadruped robot provided with the head and tail balance adjustment devices is suitable for the multiple fields of military affairs civil cargo transportation, anti-terrorist devices, filed probing, planetary exploration and the like under complex terrain environments.

Description

technical field [0001] The invention relates to a quadruped walking robot, in particular to a quadruped walking robot with a head balance adjusting device. Background technique [0002] Quadruped robots have been developed for half a century. This type of legged mobile robot can have the characteristics of flexibility, stability, and strong carrying capacity, and its adaptability to complex terrain far exceeds that of wheeled and tracked mobile mechanisms. , so it has a great application prospect in military transportation, anti-terrorist demining, post-disaster rescue and space exploration. The research on quadruped robots has become an important topic for many scientific research institutes at home and abroad, the most representative of which should be Boston Dynamics' bigdog, which uses a three-legged structure, and the whole machine has a total of 20 degrees of freedom, and each leg has 5 degrees of freedom, including 4 active degrees of freedom, specific to each leg an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 张秀丽龚加庆鄂明成刘虎
Owner BEIJING JIAOTONG UNIV
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