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Amphibious miniature quadruped robot underwater motion control method

A quadruped robot and motion control technology, applied in the field of robotics, can solve problems such as reducing concealment, increasing noise, and poor concealment, and achieve the effects of reducing energy consumption, improving stability, and improving battery life

Pending Publication Date: 2019-03-19
马鞍山清净环保科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The main problems of the current amphibious micro-robots are as follows: (1) the separate drive and actuators on land and water make the efficiency of the robot extremely low; (2) different actuators need to be used for different land and water movements, resulting in The size of the robot is too large and the mechanism is complex, which leads to poor concealment; (3) Multiple power sources are needed to provide power, which increases the weight of the robot and causes the device to be too bulky; (4) The structure of the mechanism is rigid and flexible. Poor performance, increased noise and reduced concealment; (5) The control of the robot is complicated, and there are restrictions on the use of micro-robots
[0009] The realization of this scheme depends on its control method, so its control method becomes the key factor to realize its predetermined function. Specific land motion control methods

Method used

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  • Amphibious miniature quadruped robot underwater motion control method
  • Amphibious miniature quadruped robot underwater motion control method
  • Amphibious miniature quadruped robot underwater motion control method

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Embodiment Construction

[0073] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0074] The invention discloses a water motion control method of an amphibious miniature quadruped robot, which relates to specific control modes of the robot in various motion modes in water, including a roaming mode, a floating-sink adjustment mode, a breaststroke-like mode, a two-legged wading mode and a four-legged wading mode.

[0075] The control process of the roaming mode is as follows:

[0076] (1) The communication sensing module 11 detects the surrounding environment information of the robot, and transmits the signal to the control center;

[0077] (2) The communication sensing module 11 receives the control signal from the control center, and inputs the control signal to the control module 10;

[0078] (3) The control module 10 starts to work, controls the motor 25 by the control signal, so that the motor 25 stops rotating;

[0079] (4) The control modul...

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Abstract

The invention discloses an amphibious miniature quadruped robot underwater motion control method, and belongs to the field of robots. The amphibious miniature quadruped robot underwater motion controlmethod relatesto specific control modes of a robot under various motion modes in water, the specific control modes comprise the roaming mode, the floating regulation mode, the breaststroke-liked mode, the bipedal wading mode and the quadruped wading mode. According to the amphibious miniature quadruped robot underwater motion control method, the specific control method is provided for an amphibious miniature quadruped robot when moving in the water under the different scenes and the different requirements, and the provided control method under the various control modes is simple and easy to operate, control is reliable, and debugging is convenient.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a control method of a micro-robot, and more specifically, to a control method of an amphibious micro-quadruped robot for moving in water. Background technique [0002] With the development and utilization of marine resources by humans and the deepening and development of marine science-related research, the transition zone between the ocean and land has become one of the key areas of application and attention in scientific research, environmental monitoring, investigation and analysis, and military reconnaissance in recent years. . Amphibious robots, as an effective technical means that can carry out various tasks on land, in water, and in the transition zone between water and land, are attracting the research and exploration of scientific and technological personnel from more and more countries around the world. For amphibious micro-robots, it can not only complete the work in both water an...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1679
Inventor 不公告发明人
Owner 马鞍山清净环保科技有限公司
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