A Leg-Arm Fusion Quadruped Robot

Abstract

The invention discloses a leg-arm-integrated four-legged robot. On the basis of the structure of a traditional crawling four-legged robot, leg-arm-integrating special designing is conducted on one leg branch, and multiplexing of leg and arm functions is achieved. The leg-arm-integrated four-legged robot specifically comprises three common leg branches, a leg-arm-integrated branch and a robot body; each common leg branch has three degrees of freedom, and is responsible for walk rotating; the leg-arm-integrated branch also has three degrees of freedom as the common leg branches when a tail end operating arm is folded, and achieves a walking function; and the tail end operating arm turns into an operating arm with five degrees of freedom after being unfolded and can achieve an operating function.

Description

technical field [0001] The invention relates to a multi-legged robot, in particular to a leg-arm fusion quadruped robot, which belongs to the fields of robotics, electronic technology, sensing technology and the like. Background technique [0002] Multi-legged walking robot is an important branch in the field of modern robotics. According to the number of legs, multi-legged walking robot can be divided into biped robot, quadruped robot and hexapod robot. Compared with wheeled robots and tracked robots, multi-legged walking robots have strong terrain adaptability and movement flexibility due to their discontinuous support characteristics. Compared with biped robots, quadruped robots have better carrying capacity and stability, and are simpler in structure and easier to control than hexapod robots. From an engineering perspective, quadruped robots are the best form of legged robots in terms of comprehensive research and development costs, manufacturing difficulty, control met...

AI Technical Summary

Problems solved by technology

Currently, there are usually two ways to achieve operability. One is to install an operating arm on the robot body. Typical representatives are the BigDog and SpotMini robots with operating arms developed by Boston Dynamics. This method is due to the additional operating arm. , making the structure of the whole robot complex; the other is to use one, two or three legs of a multi-legged walking robot as an operating arm for operation, typical representatives include the quadruped robot TITAN-IX developed by Tokyo Institute of Technology and NASA The developed hexapod extraterrestrial detection robot ATHLETE, but the leg structures of these robots are relatively complex and difficult to control

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