Continuous hopping robot with single leg and adjustable overhead postures

Abstract

The invention discloses a continuous hopping robot with a single leg and adjustable overhead postures. The continuous hopping robot with the single leg and the adjustable overhead postures comprises an upper body portion, a waist portion and a leg portion, wherein elastic components are supported between an upper base plate and a lower base plate of the waist portion, the upper body portion comprises a three-axis gyroscope and a detection control system, the three-axis gyroscope is installed on the upper base plate of the waist portion, the leg portion is the single leg installed on the lower base plate of the waist portion, an energy storage release device is arranged between the upper base plate and the lower base plate of the waist portion, and the detection control system comprises a motion controller, a servo driver, a wireless module, a flight posture measuring sensor and a battery set. According to the continuous hopping robot with the single leg and the adjustable overhead postures, the three-axis gyroscope is used as a stabilizing device of a system, overhead posture adjustment, balance control after landing and takeoff angle control can be achieved for the robot, and the energy storage release device is simple and reasonable in design, rapid in response and strong in controllability, can guarantee repeated continuous hopping for the robot, guarantees that initial velocity of takeoff of the robot is controllable, and achieves control on the bouncing height and the bouncing distance.

Description

(1) Technical field: [0001] The invention relates to the application field of robot technology, in particular to a single-leg continuous jumping robot with adjustable attitude in the air. (2) Background technology: [0002] At present, international research on single-leg jumping robots is still in the research stage, and domestic research on this type of robot is also a little. For example, the utility model patent (patent application number 201220505549.2) of "Single-leg Jumping Robot Mechanism" proposed by Zhejiang University. Wire rope transmission, the thigh wire rope adopts a slope mechanism and a slider adjustment mechanism to adjust the tension of the wire rope; when the knee joint is bent, the spring is compressed to convert the gravitational potential energy into the elastic potential energy of the spring, accumulating energy for stretching. However, the robot's power storage mechanism is complex, lacks an attitude adjustment mechanism, and is difficult to achieve...

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Problems solved by technology

[0003] For this reason, the present invention proposes a single-leg continuous jumping robot with adjustable attitude in the air, which mainly solves the problems of complex mechanism, no attitude adjustment and continuous jumping in the prior art.

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