Modularized walking robot with flexible torso

Abstract

The invention provides a modularized walking robot with a flexible torso. The walking robot comprises the flexible torso and two groups of walking legs, wherein the flexible torso comprises a front machine body plate, a rear machine body plate, and waist joints used for connecting the front machine body plate with the rear machine body plate; the two groups of walking legs are respectively mounted on the left sides and right sides of the front machine body plate and the rear machine body plate, and are connected with the front machine body plate and the rear machine body plate; first steering engines are used for driving the walking legs; a second steering engine is used for driving the flexible torso. The modularized walking robot abandons the traditional rigid body structure, and has three two-free-degree waist joints, so that the movement flexibility and stability of the robot are higher, and the obstacle crossing capability is stronger. The walking legs of the walking robot can be conveniently expanded into six legs, eight legs, ten legs or even more legs. As the walking leg structure is simplified in a better manner, reactive power loss due to gravity action in the walking process is reduced, and as a double-action damper is mounted between each thigh and each crus, the passive buffering effect is achieved, and the ground impact on the robot in the walking process is reduced.

Description

technical field [0001] The invention relates to a robot, specifically a legged robot. Background technique [0002] With the development of the times, the research direction of robots has shifted from fixed-point operations in structured environments to autonomous operations in unstructured environments such as aerospace, interstellar exploration, underwater underground pipelines, disease inspection and treatment, emergency rescue and disaster relief, and anti-terrorism activities. develop. In the future, robots will work for humans in environments that are difficult for humans to reach or where there are dangers. Irregularity and unevenness form the common characteristics of these environments, and the application of traditional wheeled or tracked robots is greatly restricted. Under this background, research on legged robots has flourished. The multi-legged walking robot is a robot based on imitating the movement patterns of multi-legged animals. The so-called multi-legg...

AI Technical Summary

Problems solved by technology

Through analysis, it is found that in the literature, most of the quadruped robots use a flexible torso, and there is no related introduction to the hexapod robot with a flexible torso. The existing technology has insufficient flexibility of the body, which makes the robot less flexible and limits the robot's shrinkage. Functions such as twisting and rolling; and the structure of the robot's single walking foot is complex and heavy, which increases the useless work of the robot's gravity during the walking process and increases the energy loss

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