Multi-legged walking robot capable of flexibly steering and advancing

A walking robot and flexible technology, applied in the field of robotics, can solve the problems of low steering motion performance and complicated control, and achieve the effects of reducing the rotational inertia of the legs, simple steering control, and improved motion performance.

Inactive Publication Date: 2018-08-10
HUAZHONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims at the deficiencies of low turning performance and complex control of the existing legged robots, and aims to provide a multi-legged walking robot with simple structure, easy manufacture and control, and flexible turning of 360 degrees in situ

Method used

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  • Multi-legged walking robot capable of flexibly steering and advancing
  • Multi-legged walking robot capable of flexibly steering and advancing
  • Multi-legged walking robot capable of flexibly steering and advancing

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Embodiment Construction

[0026] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0027] Referring to the accompanying drawings, a multi-legged walking robot that can flexibly turn and move includes a trunk unit 100 and a plurality of walking leg units installed on the trunk unit 100, wherein,

[0028] Each of the walking leg units includes a first support frame 301, a first motor drive module 302, a second support frame 304, a passive foot module and two leg propulsion modul...

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Abstract

The invention belongs to the field of robots, and discloses a multi-legged walking robot capable of flexibly steering and advancing. The multi-legged walking robot comprises a torso unit and a plurality of walking leg units. Each walking leg unit comprise a first support frame, a first motor driving module, a second support frame, a passive foot module and two leg propulsion modules, and each legpropulsion module comprises a second motor driving module, a thigh and a shank; and the passive foot module comprises a passive support foot and a passive rotating joint, the passive support foot is fixedly mounted on the passive rotating joint, and the passive rotating joint is rotatably mounted at the lower end of one of the shanks. The first motor driving modules of the robot can drive the walking leg units to rotate integrally, to change the propulsion plane, in-situ 360-degree flexible steering of the robot can be realized by combining the passive rotating joints and the support feet, therequired torque for steering is extremely small and only joint friction needs to be overcome, and the leg propulsion modules can fulfill the walking propulsion function of the robot.

Description

technical field [0001] The invention belongs to the field of robots, and more particularly relates to a multi-legged walking robot that can flexibly turn and move. Background technique [0002] Due to its discrete support method, the legged robot has unique terrain adaptability, which makes it an ideal carrier to replace and expand human functions. It has very broad application prospects, such as: national defense and military affairs, emergency rescue and relief, planetary surface detection, helping the elderly and the disabled, home assistants, security, education and entertainment, etc. Many developed countries regard it as a cutting-edge technology of strategic significance, and have invested huge sums of money to support comprehensive and in-depth research work. For example, with the long-term support of the US Defense Advanced Research Projects Agency (DARPA), BostonDynamics has released a variety of hydraulic quadruped, biped and electric quadruped robots with leadin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 罗欣陈学东刘军军徐维超
Owner HUAZHONG UNIV OF SCI & TECH
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