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Quadruped robot self-adjusted from any posture in air to landing posture

A quadruped robot, self-adjusting technology, applied in the direction of manipulators, motor vehicles, program-controlled manipulators, etc., can solve the problems of increasing the volume, quality and system complexity of the robot, the inability to adjust the robot's arbitrary attitude, and the difficulty of the robot, etc., to achieve The mechanism design is light, the mechanism design is concise, and the effect of a wide range of applications

Inactive Publication Date: 2018-06-29
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, since there is no external force in the air, it is difficult to control the attitude of the robot in the air. It is generally limited to single-degree-of-freedom and small-scale adjustment movements, and it is impossible to achieve arbitrary attitude adjustment of the robot as a whole; Adjustment increases the volume, mass and system complexity of the robot

Method used

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  • Quadruped robot self-adjusted from any posture in air to landing posture
  • Quadruped robot self-adjusted from any posture in air to landing posture
  • Quadruped robot self-adjusted from any posture in air to landing posture

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Embodiment Construction

[0048] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0049] see figure 1 , Figure 1A As shown, a quadruped robot designed by the present invention to self-adjust from any posture in the air to the posture on the ground is composed of a trunk body 1, a left forelimb 2, a left hind limb 3, a right forelimb 4, a right hind limb 5, a first joint frame 6, The second joint frame 7, the third joint frame 8, the fourth joint frame 9 and 8 steering gears;

[0050] Wherein, the left forelimb 2, the left hindlimb 3, the right forelimb 4 and the right hindlimb 5 have the same structure;

[0051] Wherein, the structures of the first joint frame 6, the second joint frame 7, the third joint frame 8 and the fourth joint frame 9 are identical;

[0052] Among them, the 8 steering gears refer to the A steering gear 10A, the B steering gear 10B, the C steering gear 10C, the D steering gear 10D, the E steering gear 10E, the F s...

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Abstract

The invention discloses a quadruped robot self-adjusted from any posture in the air to a landing posture. The robot comprises a steering engine control unit, steering engines and a quadruped robot body, wherein the quadruped robot body comprises a trunk body and leg units capable of carrying out spatial two-degree-of-freedom motion; through conical pendulum motion in different directions of the leg units, any posture in the air can be adjusted into the landing posture to enable the robot body to reach the ground; the four leg units of the quadruped robot body are provided with the steering engines respectively, and the steering engines are controlled by steering engine commands output by the steering engine control unit; and the steering engine control unit carries out control on the steering engines by adopting an adjusting sequence from an X axis to a Y axis and to a Z axis. According to the quadruped robot self-adjusted from any posture in the air to the landing posture, when the quadruped robot is adopted to bear a satellite structure body, posture adjustment of smooth and stable landing of the satellite structure body can be achieved without external force action.

Description

technical field [0001] The present invention relates to a quadruped robot, more particularly, refers to a quadruped robot capable of self-adjusting from any posture in the air to the posture on the ground. The robot of the present invention can realize attitude adjustment when the satellite lands smoothly and there is no external force in space. Background technique [0002] In recent years, in the research of robots, especially the research of bionic quadruped robots has been attracting much attention. With the complexity of the robot's working environment and tasks, the robot is required to have higher motion flexibility and adaptability in special unknown environments, such as jumping, high-altitude operations, and the need to control the robot's attitude during the process of falling. [0003] Application publication number CN103112513A, application publication date: May 22, 2013, announced "a locust-like robot with attitude adjustment function". The locust-like robot u...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00B62D57/032B25J17/00B25J9/10B25J18/00
CPCB25J9/10B25J13/00B25J17/00B25J18/00B62D57/032
Inventor 裴旭欧阳若愚周威陈逸农
Owner BEIHANG UNIV
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