Electric driven biomimetic four-leg robot with environment sensing ability and control method

Abstract

The invention discloses an electric driven biomimetic four-leg robot with the environment sensing ability and a control method. A head is hinged to a front body through a neck and a head connecting rod, the head is linked with the neck, and the front body is hinged to a back body; a tail is arranged at the back part of the back body, and is also hinged to the front body through a tail connecting rod; front legs are respectively arranged on the two sides of the front body; back legs are respectively arranged on the two sides of the back body; the length of the back legs are larger than that of the front legs; the widest part of the front body is wider than the widest part of the back body; the electric driven biomimetic four-leg robot further comprises an environment sensing sensor group and a camera; the environment sensing sensor group and the camera are connected with a central processing unit; the output end of the central processing unit is connected with an electric driven execution system; a power management module supplies power for the environment sensing sensor group, the central processing unit and the electric driven execution system. Through the adoption of the electric driven control mode, the biomimetic four-leg robot can realize dynamic sensing, autonomous navigation and real-time following on environment, and can adapt to biomimetic gait motion planning with topographical changes and random disturbance.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to an electrically driven bionic quadruped robot with environment perception capability and a control method. Background technique [0002] From the perspective of robot movement, robots can be roughly divided into three categories: wheeled robots, tracked robots, and legged robots. Compared with wheeled or tracked robots, legged motion has superior characteristics that wheeled or tracked robots do not have: [0003] (1) The footholds of leg-foot movement are discrete, and the optimal support point can be selected within the reachable space of the foot, which can cross obstacles and improve the adaptability to rough ground. [0004] (2) The leg-foot movement can realize all-round movement, and the movement is more flexible. [0005] (3) Leg-foot movement can be actively isolated from vibration, that is, the trajectory of the center of mass of the torso is decoupled from the ...

AI Technical Summary

Problems solved by technology

[0010] Hydraulically driven quadruped robots have advantages in terms of high dynamics and high load capacity, but there are problems such as high power consumption and high noise

[0011] The degree of freedom of electric-driven quadruped robots is relatively small, and the movement is not flexible enough; the ability to perceive the environment is poor, and it is difficult to adapt to complex ground movements

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