Six-leg walking robot capable of crossing obstacles

A technology of walking robot and ability, which is applied in the direction of motor vehicles, transportation and packaging, etc., and can solve the problem of insufficient obstacle-surmounting ability of hexapod walking robots
CN103481964AInactive Publication Date: 2014-01-01BEIHANG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
BEIHANG UNIV
Publication Date
2014-01-01
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a six-leg walking robot capable of crossing obstacles. The walking robot comprises a left front leg (1), a right front leg (2), a left middle leg (3), a right middle leg (4), a left rear leg (5), a right rear leg (6) and a body (7). The body comprises a front body (7A) and a rear body (7B). The six legs are symmetrically disposed relative to the body (7). Each leg is provided with three joints, namely a hip joint, a thigh joint and a shank joint, coordination of the three joints guarantees front-rear swing, lifting, and bending and stretching of each leg. The three joints of each leg and body joints guarantee good obstacle crossing and slope climbing ability of the robot. The feet of each leg is connected in a buffer manner, and damping and energy accumulation recycling can be completed in a one-step cycle. The six-leg walking robot is flexible in motion, fast in response, large in motion space, small in motion inertia, and suitable for movements under complex non-structure topographic conditions of fields.
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Description

technical field

[0001] The present invention relates to a walking robot, more particularly, refers to a 19-degree-of-freedom hexapod walking robot with body joints capable of overcoming obstacles. Background technique

[0002] Robots are usually divided into wheeled robots, tracked robots, and footed robots. Among them, the legged robot, that is, the walking robot, can cross relatively large obstacles (such as ditch, ridge, etc.), and the large number of degrees of freedom in the legs of the robot can make the movement of the robot more flexible. Compared with wheeled and tracked robots, walking robots have stronger adaptability to complex terrain, so they have a wide range of application prospects, such as space exploration, surveillance and reconnaissance, mining, nuclear energy industry, post-earthquake rescue, etc.

[0003] As a typical representative of multi-legged walking robots, hexapod walking robots are characterized by rich gaits and the ability to walk efficient...

Claims

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