Four-legged bionic robot platform based on biological characteristics

Abstract

The invention discloses a four-legged bionic robot platform based on biological characteristics. The four-legged bionic robot platform comprises a trunk and four lower limbs. The four lower limbs areevenly and symmetrically distributed at the four corners of the lower portion of the trunk, and the structures of the four lower limbs are identical. The trunk comprises four driving units, a trunk bottom plate used for supporting the driving units, a depth visual apparatus and a laser radar. The lower limbs comprise ankle joints, foot soles and leg parts. The upper ends of the leg parts are fixedly connected with the driving units, and the lower ends of the leg parts are rotatably connected with the upper ends of the ankle joints. The lower ends of the ankle joints are rotatably connected with the upper ends of the foot soles. According to the four-legged bionic robot platform, the adaptability and anti-jamming ability of a bionic leg-foot-type robot to different terrains can be improved,the stability and reliability of making contact with the ground are enhanced, a robot deep vision technology is fused to make a reasonable path plan on the travelling track of the robot, a laser radar technology is fused to further enhance the interaction ability between the robot and the environment, the mechanical complexity of the trunk and the lower limbs is simplified, the control difficultyis lowered, and the control accuracy is improved.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a quadruped bionic robot platform based on biological characteristics. Background technique [0002] At present, robots are divided into bionic legged robots, wheeled robots, and tracked robots according to their moving methods. The main purpose of their research is to enhance the motion performance of the robot mobile system and the carrying capacity of the robot platform. Among them, tracked robots and wheeled robots have high energy utilization efficiency, low mechanical complexity, and easy control. However, when facing complex terrain environments, the static stability and ground contact performance of traditional wheeled robots are greatly reduced, while Although crawler robots can appropriately reduce the requirements on terrain and environment, they also have disadvantages such as low motion precision, poor flexibility, and weak stability. However, the bionic legged rob...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the defects and deficiencies in the prior art, the present invention provides a quadruped bionic robot platform based on biological characteristics, which overcomes the defects of existing robots such as poor adaptability to different terrains, and poor stability and reliability in contact with the ground

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