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Mechanism and control method of a single-leg robot for wall jumping

A control method and robot technology, which is applied in the field of robots, can solve the problems that the robot cannot continuously jump, cannot have a large impact force, and the acceleration is small, so as to achieve the effect of improving the application occasion and movement ability

Active Publication Date: 2020-09-04
ZHEJIANG UNIV
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

However, the power of the propeller of the robot is small, and the acceleration exerted by the propeller on the center of mass of the fuselage is small in the air state, and the large impact force on the ground during the bouncing process cannot be effectively controlled in the air, so the robot cannot be continuously on the wall. jump

Method used

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  • Mechanism and control method of a single-leg robot for wall jumping
  • Mechanism and control method of a single-leg robot for wall jumping
  • Mechanism and control method of a single-leg robot for wall jumping

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with accompanying drawings and examples.

[0028] Such as Figure 1-2 As shown, a single-leg robot mechanism for wall jumping includes a robot leg, and a plurality of rotors are fixedly connected to the fuselage 1 of the robot leg. The working surfaces of the rotors are parallel to each other.

[0029] A controller and a gyroscope are installed inside the fuselage 1, and the gyroscope and a plurality of rotors are all connected to the controller.

[0030] The quantity of a plurality of rotors in the present embodiment is four, respectively is upper left rotor 8, upper right rotor 9, lower left rotor 10, lower right rotor 11; described rotor can adopt the rotor of unmanned aerial vehicle, but is not limited to this.

[0031] Further, the robot leg includes sequentially hinged fuselage 1, thigh 3, calf 5 and foot 7, the hinge of the fuselage 1 and thigh 3 is provided with a hip joint 2 that drives the ...

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Abstract

The invention discloses a single-leg robot mechanism and a control method for wall jumping, including a robot leg, a plurality of rotors are fixedly connected to the fuselage of the robot leg, and the plurality of rotors are distributed in mirror images relative to the fuselage. And the working surfaces of the plurality of rotors are parallel to each other. The invention is equipped with a rotor mechanism, which can actively control the trajectory of the center of mass and body posture of the robot in the air; combined with the control method disclosed in the invention, the technical effect of continuous jumping on the vertical wall can be realized, and the application occasion and exercise ability of the robot can be improved. .

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a wall-hopping single-leg robot mechanism and a control method. Background technique [0002] With the advancement of technology, the era of robots is coming to us. Legged robots are one of the main research hotspots in the field of robotics at present. How to realize the fast running and jumping of legged robots has become the research focus in the field of robotics. Human legs can realize walking and jumping, which has important reference significance for legged robots to improve their motion performance. At present, the research on legged robots in the world mainly focuses on the functions of walking, running, jumping and crawling on the plane, and there is no in-depth research on the obstacles such as climbing vertical walls for legged robots. However, this robot has important application value in special occasions. [0003] The single-leg robot is the simplest robot in the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
CPCB62D57/02B62D57/04B64C2025/008B64C25/001B62D57/024B64U50/14
Inventor 朱秋国赵逸栋吴俊熊蓉
Owner ZHEJIANG UNIV
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