Bionic regular-hexagon hexapod robot

Abstract

The invention provides a bionic regular-hexagon hexapod robot and belongs to the technical field of walking robots. The robot comprises a regular-hexagon robot body, a walking mechanism and a closed-loop control system controlling the walking mechanism, wherein the walking mechanism is a regular-hexagon rack and comprises three pairs of mechanical feet, each mechanical foot comprises a composite rotating arm, a short arm, a long arm and a horizontal regulation component used for driving the mechanical foot to rotate in the horizontal direction, the horizontal regulation component rotates in the horizontal scope to drive the robot to move forwards and backwards, the mechanical foot moves up and down through the rotation of the short arm in the vertical scope, the rotation of the long arm in the vertical scope drives the mechanical foot to do stretching exercises in the horizontal scope, the mutual movement of the six mechanical feet forms a movement mechanism to drive the robot to achieve various movements. The robot is strong in terrain adaptability, can be applied to the exploration of a danger zone, and is also applied to aerospace as well as environmental survey of an unknown planet.

Description

technical field [0001] The invention relates to the technical field of walking robots, in particular to a bionic regular hexagonal hexapod robot. Background technique [0002] The idea of ​​the walking machine is mainly based on the uneven terrain changes in nature. The bionic walking robot is a robot that imitates the movement form of animals and uses a leg structure to complete various moving functions. Although wheeled and tracked robots have been widely used in mobile robots, walking robots have very low requirements on the road surface. The large number of degrees of freedom of the robot's feet can make the robot's movement more flexible and adapt to uneven terrain. The ability is stronger; the foothold of the walking-footed robot is discrete, and the contact area with the ground is small, and the optimal support point can be selected on the accessible ground. It can also walk freely; it can be applied to the detection of dangerous areas, or places that humans cannot r...

AI Technical Summary

Problems solved by technology

However, the simple geometric position planning and control of the robot will cause the robot to become unstable due to factors such as inertia and foot force imbalance.

[0006] Moreover, most of the existing walking robots adopt centralized control, that is, all the control of the robot is completed by a microcomputer, which may not be processed in time during the walking process on complex roads.

Some 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

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