Variable topology spoke walking biped robot

Abstract

The invention discloses a variable topology spoke walking biped robot. The variable topology spoke walking biped robot includes a left wheel foot assembly, a right wheel foot assembly, a left shank assembly, a right shank assembly, a left thigh assembly, a right thigh assembly and hip joint assemblies. The left wheel foot assembly and the right wheel foot assembly are connected with the lower endsof the left shank assembly and the right shank assembly correspondingly. The left shank assembly and the right shank assembly are connected with the lower parts of the left thigh assembly and the right thigh assembly. The upper ends of the left thigh assembly and the right thigh assembly are connected with the hip joint assemblies. Rotatable main bodies are correspondingly arranged in the left wheel foot assembly and the right wheel foot assembly. Three spokes which are distributed at 60 degree at intervals are arranged in each main body in a penetrating mode. Each spoke can reciprocate in the length direction of the corresponding spoke. Each main body is used for extending and contracting the corresponding spoke according to needs of road conditions of a landing place before landing. According to the variable topology spoke walking biped robot, because every three spokes which are distributed at 60 degree at intervals and can reciprocate in the length direction of the spokes are used, the unique mobility is formed by combining with leg parts of the biped robot, the adaptability to complicated terrains such as potholes, mountain, flat ground and obstacle crossing of the biped robot is improved, the energy consumption is low, and the walking efficiency is high.

Description

technical field [0001] The invention relates to the field of robots, in particular to a walking biped robot with variable topology spokes. Background technique [0002] Recently, leg-wheel hybrid robots have attracted more attention. On the one hand, the leg movement is more suitable for a wide range of unstructured sites (such as potholes, mountains), but the complex mechanism of the legs is difficult to implement; On the one hand, wheeled locomotion, while fast and efficient, is often limited to relatively flat terrain (such as flat ground). [0003] However, the biped robot in the prior art has a relatively large foot structure, and the control difficulty of the three-joint structure is relatively large. Most of its walking control methods are based on the ZMP (Zero Moment Point) dynamic control method, which has high energy consumption and low Walking is inefficient. [0004] Therefore, the prior art still needs to be improved and developed. Contents of the invention...

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Problems solved by technology

[0002] Recently, leg-wheel hybrid robots have attracted more attention. On the one hand, the leg movement is more suitable for a wide range of unstructured sites (such as potholes, mountains), but the complex mechanism of the legs is difficult to implement; On the one hand, wheeled locomotion, while fast and efficient, is often limited to relatively flat terrain (e.g. flat ground)

[0003] How...

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