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Bionic flexible body bending control system of quadruped robot

A quadruped robot, bending control technology, applied in the field of robotics, can solve problems such as no control scheme for flexible body bending, and achieve good control and less harmful substances

Inactive Publication Date: 2014-04-23
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the research on the bionic flexible body of quadruped robots is still in the initial stage at home and abroad, and an effective flexible body bending control scheme has not yet been proposed.

Method used

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  • Bionic flexible body bending control system of quadruped robot
  • Bionic flexible body bending control system of quadruped robot
  • Bionic flexible body bending control system of quadruped robot

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Embodiment Construction

[0012] Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail:

[0013] see figure 1 with figure 2 , a bionic flexible body bending control system for a quadruped robot, comprising a bionic flexible body mechanism I, a pneumatic circuit II, a flexible body bending control circuit III and a DC voltage source 7; the bionic flexible body mechanism I includes a front body 8, a spring 9. Rear body 10, bionic spine 11, pneumatic artificial muscle 15 and bearing 16; the pneumatic artificial muscle 15 is connected to the front body 8 and the rear body 10 through the bearing 16; the bionic spine 11 is fixed to the front body 8 and the rear body 10 center position; both ends of the spring 9 are fixed on the front body 8 and the rear body 10, the spring 9 and the pneumatic artificial muscle 15 are symmetrical about the bionic spine 11; the pneumatic circuit II includes an air compressor 3 and a pressure reducing valve 4 , a t...

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PUM

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Abstract

The invention relates to a bionic flexible body bending control system of a quadruped robot. The bionic flexible body bending control system comprises a bionic flexible body mechanism, a pneumatic circuit, a flexible body bending control circuit and a direct-current voltage source. According to the bionic flexible body bending control system, a bionic body is driven by pneumatic artificial muscles, has certain flexibility, and can be bent; the control system has the advantages of being easy to control, high in speed correspondingly and the like.

Description

technical field [0001] The invention relates to a bending control system of a bionic flexible body of a quadruped robot, which is used for realizing the steering gait of a quadruped robot in coordination with a leg mechanism, and belongs to the technical field of robots. Background technique [0002] The traditional quadruped robot body is a rigid overall structure. Although the steering movement can be realized through the multi-degree-of-freedom of the leg mechanism and complex motion planning, the steering radius is large and the steering speed is slow, which cannot meet the mobility requirements in an unstructured environment. The flexible design of the quadruped robot body is an inevitable requirement to improve the mobility and stability of the quadruped robot in an unstructured environment. [0003] At present, the research on the bionic flexible body of the quadruped robot is still in the initial stage at home and abroad, and an effective bending control scheme for t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 雷静桃俞煌颖吴建东任明明
Owner SHANGHAI UNIV
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