Turning structure of 2d quadruped robot

Abstract

The invention discloses a turning structure of a 2D quadruped robot and a control method of the turning structure. The turning structure comprises a ball screw and drawing wires adopting a herringbone structure, wherein the ball screw is fixed on an upper platform of the robot, and each drawing wire is fixed between two corresponding legs and pulled by a driving motor; the turning structure further comprises the driving motor for driving the ball screw to rotate, and the motor is equipped with an encoder for detecting the rotating speed of the motor. Through pulling of each drawing wire, the distance between the two corresponding legs is limited, the step size is changed, and the turning effect can be realized through accumulation for a certain period of time; the turning structure is concise in structure and exquisite in design, can realize the turning action with fewer mechanical part structures, and effectively solves the problems of poor turning and unstable turning of the 2D robot.

Description

technical field [0001] The invention relates to the field of robots, in particular to a turning structure of a 2D quadruped robot and a control method thereof, which can be used in fields such as rehabilitation medicine, toys, and military affairs. Background technique [0002] At present, the research of robots is a hot spot in all countries in the world, and the research on 2D legged robots is in full swing. At present, 2D legged robots have achieved certain results, but there are also obvious shortcomings, especially in the control of turning. There are certain defects in the structure and method. For example, unlike the 3D legged robot, the 2D legged robot lacks the lateral movement of the hip joint in structure, so the 2D biped robot generally cannot turn and walk normally. Contents of the invention [0003] The object of the present invention is to provide a simple, stable and effective device capable of turning a 2D quadruped robot and its control method, which can ...

AI Technical Summary

Problems solved by technology

[0002] At present, the research of robots is a hot spot in all countries in the world, and the research on 2D legged robots is in full swing. At present, 2D legged robots have achieved certain results, but there are also obvious shortcomings, especially in the control of turning. There are certain defects in the structure and method. For example, unlike the 3D footed robot, the 2D footed robot lacks the lateral movement of the hip joint in the structure, so the 2D bipedal robot generally cannot turn and walk normally.

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