Force-aware space-adaptive gecko-like robot with active adhesion-detachment and attitude control

Abstract

The invention belongs to the field of application of robot technologies and relates to a force-sensing space-adaptive gecko inspired robot capable of fulfilling automatic adhesion and anti-adhesion functions and realizing attitude correction. The robot is composed of a body, limbs, a tail, four feet and the like. The design requirement of integrating sensing and driving of leg structures of a miniature foot-type robot is met. The robot can be applied to the design of multi-degree-of-freedom foot-type robots of which the feet have the automatic adhesion and anti-adhesion motion functions and which can meet the three-dimensional contact force perception and space surface adaptive ability. The tail has a rotation speed regulation function, so that the control over the attitude of the gecko inspired robot per se under microgravity can be realized, the four feet can perform front impact adhesion on the target landing surface conveniently, and the gecko inspired robot can land stably on complex target surfaces and perform surface adhesion and anti-adhesion walking motions by combining the design of automatic adhesion and anti-adhesion motions of the feet and three-dimensional contact force perception and space surface adaptive functions.

Description

technical field [0001] The invention belongs to the application field of robot technology, and in particular relates to a force-sensing space-adaptive gecko imitation robot with active adhesion and detachment and attitude control, which is mainly used in the structural design of an adhesion-legged robot under space microgravity. Background technique [0002] At present, domestic and foreign legged robots can include bipedal, quadrupedal, hexapodal, and eight-legged robots, etc. In the structural design, a single leg of a biped robot has 6 actively driven degrees of freedom, while in quadruped, hexapod, and octaped robots, due to the large number of legs, the degree of freedom of a single leg is generally 3 actively driven. Degree of freedom, the foot end of the leg adopts point contact or ball contact (patent 200710098710.2 Luo Qingsheng, etc.). For a multi-legged robot with adhesive walking, the robot legs need to have more degrees of freedom to adapt to different surfaces...

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Problems solved by technology

[0004] Literature (R. Chen, R. Liu, J. Chen and J. Zhang, A Gecko Inspired Wall-climbing Robot Based on Electrostatic Adhesion Mechanism, Proceeding of the IEEE International Conference on Robotics and Biomimetics, Shenzhen, China, pp: 396-401 ,2013.; S. Kim, M. Spenko, S. Trujillo, B. Heyneman, V. Mattoli, M.R. Cutkosky, Whole body adhesion: hierarchical, directional and distributed control of adhesive forces for a climbing robot, 2007 IEEE International Conference on Robotics and Automation, Roma, Italy, pp:1268-1273, 2007), it is known that similar adhesive robot feet only have a simple detachable cable transmission, do not have active adhesion function, and have surface adaptability and three-dimensional contact force in space. Perception has not been studied

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