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Robot with functions of rolling motion and foot walking

A robot and functional technology, applied in the field of robotics, can solve the problems such as the large difference in structure between spherical robots and footed robots, achieve broad development space and application prospects, improve free movement capabilities, and achieve the effects of high-efficiency and reliable movement

Active Publication Date: 2014-01-29
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] (1) As a relatively new form of mobile robot, the spherical robot is still in the research stage, and its driving mode and movement flexibility need to be improved
[0007] (2) Spherical robots and legged robots are very different in structure, and it is difficult to force a direct combination on the basis of only retaining their respective advantages

Method used

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  • Robot with functions of rolling motion and foot walking
  • Robot with functions of rolling motion and foot walking
  • Robot with functions of rolling motion and foot walking

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] Such as figure 1 As shown, the robot with rolling motion and foot walking function includes a spherical shell module 1 , a foot module, a drive module 6 and a counterweight module 7 . The drive module 6 is located in the center of the inner cavity of the spherical housing module 1, and the two ends of a main shaft 62 in the driving module 6 are fixedly connected with an upper hemispherical housing 11 of the spherical housing module 1, and the middle part of the main shaft 62 is connected to the foot. One end of the four foot module subunits 2, 3, 4, 5 in the head module is fixedly connected respectively, and the other end of each foot module subunit 2, 3, 4, 5 is connected to the four corresponding ones in the spherical shell module 1. The lower hemispherical shell subunits 12, 13, 14, 15 are fixedly connected, and the counterweight module 7 is connected to a steering shaft 64 in the drive module 6, and is located in the lower hemispherical body cavity of the inner cav...

Embodiment 2

[0035] This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0036] Such as figure 2 As shown, the spherical shell module 1 of the robot with rolling motion and foot type walking function includes one upper hemispherical shell 11 of a hollow thin-walled spherical shell and four lower hemispherical shells that equally divide the lower hemispherical shell into four parts. The body subunits 12, 13, 14, 15 are each equipped with a fixed block 16, which is a mechanical limit structure that prevents the robot from being deformed in a spherical state.

[0037] The foot module described in this robot with rolling motion and foot type walking function includes four groups of identical and independent foot module subunits 2, 3, 4, 5, and the main structure of each subunit includes hip joint 21, thigh joint 22 and shank joint 23, are the tandem combined mechanism with three degrees of freedom, so this robot has 12 degrees of freedom of m...

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PUM

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Abstract

The invention discloses a robot with functions of rolling motion and foot walking. The robot comprises a spherical housing module, a foot module, a drive module, a weight module and an additional function module. The modules coordinate to allow the robot to move in various forms. The robot has the advantages that the fast rolling ability in a ball and complex terrain adaptability in bionic multi-limb walking are deeply fused in mechanical structure; the deformable robot structure with the functions of ball rolling and bionic limb walking is designed, the control schemes for rolling, bionic limb walking, motion state transforming, stable attitude and the like of the robot are designed, the robot can roll fast on plain terrains and reliably walk on complex terrains, and motion performance and reliability of the robot in the real complex terrain environment can be improved.

Description

technical field [0001] The invention relates to a deformable robot. More specifically, the present invention relates to a transforming robot with rolling motion and quadrupedal walking. It belongs to the field of robotics. Background technique [0002] Mobile robots have been widely researched and applied in military, scientific research, education, life and other aspects. According to the different forms of movement, it is usually divided into wheel type, crawler type, foot type, peristaltic type, rolling type, swimming type and so on. [0003] As a representative form of a rolling mobile robot, a spherical robot has a spherical or nearly spherical shell structure. When the robot collides or falls from a high place, the spherical shell can not only effectively protect the internal structure and components of the robot, but also make the robot attitude fast. Return to the static equilibrium state, so it has good anti-interference. The main movement mode of the spherical...

Claims

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Application Information

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IPC IPC(8): B62D57/032B62D57/02
Inventor 贾文川张记斐蒲华燕柳杨张泉王兴兴
Owner SHANGHAI UNIV
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