Double-feet air cushion boot type walking robot and walking method thereof

Abstract

The invention relates to a walking mechanism of a robot and a walking method thereof. A double-feet air cushion boot type walking robot is characterized in that. swaying thighs (3) are arranged on the two sides of a hip part board (9), swaying shanks (5) are connected to the lower ends of the swaying thighs (3), the lower ends of the swaying shanks (5) are connected with air cushion boots (6) by a ball hinged structure, controllable bolts (4) are arranged between the swaying thighs (3) and the swaying shanks (5), the lower parts of the swaying shanks (5) extend out of supporting horizontal rods (11), at least one vertical spring is arranged between each supporting horizontal rod (11) and a top layer hard board (17), the structure of each air cushion boot (6) is that a soft apron (15) is arranged on the lower part of the corresponding top layer hard board (17), an air-blowing draught fan (14) driven by an air-blowing draught fan motor (13) is arranged above each top layer hard board (17), and the walking method of the robot provides and limits the operation characteristic in an operation segmenting mode. The robot is simple in structure, small in two-leg freedom degree and low in control unit requirement, two feet bear the load during walking, the walking stability is good, the ground specific pressure has better inclusiveness for complicated ground, and the energy using efficiency is high.

Description

technical field [0001] The invention relates to a walking mechanism and a walking method of a robot, in particular to a walking structure and a walking method of a robot walking in the form of air cushion boots. Background technique [0002] So far, in the research field of walking robots, most of them adopt multi-joint, multi-degree-of-freedom humanoid structure, and they all complete the movement of the robot by controlling the movement of the joints of the legs and then realizing the swing of the legs during the marching process. This has resulted in problems such as complex structure, difficult control, poor stability and low energy utilization efficiency of existing biped walking robots. At the same time, the traditional two-legged robot lands on one foot during the travel process, and the grounding pressure is high, so it cannot pass through the soft ground. Therefore, in view of the above deficiencies, technical progress is needed to realize the control stability and...

AI Technical Summary

Problems solved by technology

However, the air-cushioned walking vehicle needs six legs to move, considering the passability problem on the soft ground but does not have good control performance

[0007] From the above, it can be seen that after searching the literature, no relevant research results on the biped air-cushioned boot-type walking robot have been found.

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