One-leg continuous jumping robot with adjustable attitude in the air

Abstract

The invention discloses a single-leg continuous jumping robot with adjustable posture in the air, which includes an upper body, a waist and legs, elastic elements are evenly supported between the upper base plate and the lower base plate of the waist, and the upper body includes a three-axis gyroscope and detection control system, the three-axis gyroscope is installed on the upper base plate, and the leg is a single leg installed on the lower base plate; an energy storage and releasing device is arranged between the upper base plate and the lower base plate; the detection and control system includes a motion controller set on the upper base plate, Servo drives, wireless modules, attitude measurement sensors, and battery packs. The invention uses a three-axis gyroscope as a stabilizing device of the system, which can realize the attitude adjustment of the robot in the air, the balance control after landing and the control of the take-off angle; The robot's multiple consecutive jumps ensure that the initial jumping speed of the robot is controllable, and the control of the jumping height and jumping distance is realized.

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 aerial attitude. (2) Background technology: [0002] At present, the international research on the single-leg jumping robot is still in the research stage, and there is also a little research on this kind of robot in China. For example, the utility model patent of "Single-leg Jumping Robot Mechanism" proposed by Zhejiang University (patent application number is 201220505549.2), its robot technical scheme consists of three parts: body, thigh and calf, which are connected through the hip joint and knee joint respectively, and the knee joint passes through the thigh. Wire rope transmission, the thigh wire rope adopts the inclined plane mechanism and the slider adjustment mechanism to realize the adjustment of the tension degree of the wire rope; when the knee joint is bent, the spring is compressed, and the gravit...

AI Technical Summary

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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