Dry-adhesive and claw-combined quadruped multi-dwelling robot and its bionic locomotion method

A technology of dry adhesion and claws, applied in the field of all-terrain multi-habitation mobile platforms, can solve the problems of limited robot functions, bionic movement methods that have not been reported, and no research has been carried out
CN109334797BActive Publication Date: 2021-04-20NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Publication Date
2021-04-20

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Abstract

A quadruped multi-dwelling robot combined with dry adhesion and claws and its bionic motion belongs to the field of robots. Its main body includes a forefoot support frame (3), N body Z-axis servos connected in series, and a rear foot support frame (18); the head and neck structure includes a head Y-axis servo (2) and a camera (1); the tail The structure includes: tail X-axis steering gear (26), tail X-axis steering gear U-shaped connector (27), M tail Z-axis steering gears in series, and tail fins (31); the foot structure is composed of foot Y-axis rudder Machine, supporting feet, paddles, claws and dry adhesive materials. The robot can meet the adaptive requirements of unstructured terrain water surface-land surface in natural environment. At the same time, it can use dry adhesion to crawl on large-slope walls on smooth surfaces, and can use hook claws to crawl on large-slope walls on rough surfaces. Crawling, a multi-dwelling robot driven by a dry-adhesive claw four-wheeled paddle that can be used as an all-terrain multi-dwelling off-road mobile platform in a natural environment.
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Description

technical field

[0001] The invention belongs to the application field of robot technology, and in particular relates to a quadruped multi-dwelling robot combined with dry adhesion and claws and a bionic movement method thereof, which is mainly used as an all-terrain multi-dwelling mobile platform in a natural environment. Background technique

[0002] Robots that adapt to various complex environments on land and water are one of the most cutting-edge topics in the field of robot research today. It integrates many disciplines such as machinery, electronics, computers, materials, sensors, control technology and artificial intelligence, and reflects the intelligence of a country. At the same time, as an important symbol of a country's high-tech strength, developed countries have invested heavily in research in this field.

[0003] The footed robot can climb slopes on complex ground, and can adjust the combination of front and rear end high and low body movements to meet the req...

Claims

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