Quadruped robot based on cell robot units

Abstract

The invention discloses a quadruped robot based on cell robot units. The quadruped robot comprises a body part and four mechanical feet formed by connecting equal quantities of cell robot units pairwise. Each cell robot unit comprises two half casings, a rotational degree of freedom is formed between the two half casings, four connecting positions are uniformly distributed in the circumferential direction of the wall surfaces of the two half casings, and two cell robot units are fixedly connected in the connecting positions. The four mechanical feet in the structure are uniformly distributed in the circumferential direction, and the cell robot unit located at the starting end is mounted on the body part. The quadruped robot based on the cell robot units has the following advantages: a modular design idea is adopted for the whole, front-back and left-right complete symmetry in structure is realized, multiple walking modes such as advancing, retreating, moving leftwards, moving rightwards and the like can be realized, and modules are convenient to disassemble, replace and assemble; the multiple cell robot units in each mechanical foot are assembled as required, and the mechanical feet with multiple degrees of freedom and multiple redundancy can be formed.

Description

technical field [0001] The invention belongs to the technical field of intelligent robots, and in particular relates to a quadruped robot based on a single cell robot. Background technique [0002] In the 1960s, research on quadruped walking robots began. With the research and application of computer technology and robot control technology, in the 1980s, the research and development of modern quadruped walking robots entered a stage of extensive development. The world's first truly quadruped walking robot was produced by Frank and McGhee in 1977. The robot has good gait motion stability, but its disadvantage is that the robot's joints are controlled by a state machine composed of logic circuits, so the behavior of the robot is limited and can only present a fixed form of motion. The most representative quadruped walking robot in the 1980s and 1990s was the TITAN series developed by Shigeo Hirose Laboratory in Japan. From 1981 to 1983, Professor Hirose successfully develop...

AI Technical Summary

Problems solved by technology

The disadvantage is that the coordinated control of the legs is more complicated and the carrying capacity is smaller

However, most of the current quadruped robots are relatively complex in composition, and the various components are different from each other, so it is difficult to maintain and guarantee

However, the research on quadruped robot technology based on modularization is relatively small.

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