Quadruped robot based on cell robot units

A quadruped robot and robot technology, applied in the field of intelligent robots, can solve problems such as complex structure, difficult maintenance and support, and small carrying capacity

Active Publication Date: 2015-12-23
BEIJING KEYI TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • Quadruped robot based on cell robot units
  • Quadruped robot based on cell robot units
  • Quadruped robot based on cell robot units

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Embodiment Construction

[0038] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0039] The present invention is a quadruped robot based on a single cellular robot, including a body 1 and four mechanical feet 2 . Among them, let the four mechanical feet be foot A, foot B, foot C and foot D, all of which are composed of equal numbers of cell robot units 3 connected in pairs, uniformly distributed in the circumferential direction, and fixedly installed on the fuselage 1 . The inside of the fuselage 1 is used to install a power supply.

[0040] The cell robot unit 3 is an integral spherical structure composed of two hemispherical shells 301, such as figure 2 As shown, there is a rotational degree of freedom between the two hemispherical shells 301, which are driven to rotate by the drive motor. Three mounting holes are evenly distributed on the wall of each hemispherical shell 301 in the circumferential direction, and a mechanical connect...

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PUM

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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...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 杨健勃
Owner BEIJING KEYI TECH
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