Multi-legged robot and its control method
A multi-legged robot and control device technology, applied in the field of robotics, can solve problems such as low reliability, poor balance, complex mechanical mechanism, etc., and achieve the effects of stable standing and walking, excellent balance, and convenient control
Active Publication Date: 2020-04-24
贾春平
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Problems solved by technology
[0003] However, the existing walking robots are difficult to be practically promoted due to complex mechanical mechanism, difficult control and low reliability; or due to simple structure, poor balance and limited road adaptability, they can only be used for demonstration and entertainment.
As a result, walking robots are not yet widely available in a variety of practical applications
[0004] The mobile robots that have been widely used are still mainly track-type, wheel-type or crawler-type, and it is difficult to adapt to various terrains like humans or animals. Therefore, there are always limitations in specific use, and it is impossible to completely replace labor
Method used
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[0039] Embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings and examples. The detailed description and drawings of the following embodiments are used to illustrate the principle of the present invention, but not to limit the scope of the present invention, that is, the present invention is not limited to the described embodiments.
[0040] In the description of the present invention, it should be noted that, unless otherwise stated, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance; The meaning is two or more; the orientation or positional relationship indicated by the terms "inner", "outer", "top", "bottom" etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this The invention and the simplified description do not indicate or imply that th...
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The invention discloses a multi-legged robot and control method thereof. The multi-legged robot includes more than three traveling foot groups capable of forming a row in a first direction. The threetraveling foot groups include a middle foot group and at least two edge foot groups. The middle foot group includes at least one limb. Each edge foot group includes at least two limbs, and the at least two edge foot groups in each edge foot group are distributed on both sides of the middle foot group at intervals. Connecting parts are shafting assemblies with spatial rotational degrees of freedomin at least the first direction and a second direction, so that each limb has rotatable degrees of freedom in at least two directions; wherein each limb has a connecting end and a freedom end, all limbs are mutually connected through connecting ends, in the walking state of the multi-legged robot, free ends of all limbs of at least two traveling foot groups in over three traveling foot groups landon the ground together, and the landed free ends present a polygonal pattern in the vertical direction of orthographic projection. According to the multi-legged robot, the structure is simple and thebalance is outstanding.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a multi-legged robot and a control method thereof. Background technique [0002] Research on walking robots has a long history. Some robots use bionic principles, such as simulating human bipeds, animal quadrupeds, and insect multi-legged structures. There are also some designed according to the principle of mechanical physical balance. Various walking robots have appeared at present, and the research of some of them has achieved good demonstration effect. [0003] However, existing walking robots are difficult to be practically popularized due to complex mechanical mechanism, difficult control and low reliability; or due to simple structure, poor balance and limited road adaptability, they can only be used for demonstration and entertainment. As a result, walking robots are not yet widely available in a variety of practical applications. [0004] The mobile robots that have b...
Claims
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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 贾春平
Owner 贾春平