Humanoid fast walking and tracking obstacle avoidance robot

Abstract

The invention discloses a humanoid fast walking and tracking obstacle avoidance robot. The humanoid fast walking and tracking obstacle avoidance robot comprises two mechanical legs and an upper body mounted with an Openmv machine vision module and an electric module; a single mechanical leg comprises double-shaft steering gears, U-shaped frames, an inclined straight plate, an angle aluminium and aflat plate, the upper end and the lower end of the inclined straight plate are connected with a first U-shaped frame correspondingly, the two first U-shaped frames are connected with a second U-shaped frame correspondingly, each first U-shaped frame and second U-shaped frame are both connected with the double-shaft steering gears, the two mechanical legs constitute a total of eight degrees of freedom and are symmetrically distributed; the second U-shaped frame at the lower end is connected with the flat plate through the angle aluminium, and the flat plate contacts the ground; the Openmv module comprises a camera, and is connected with an Arduino main control chip which is used for designing the tracking obstacle avoidance decision, the Arduino main control chip and the electric module are jointly connected with the double-shaft steering gears to drive the mechanical legs to move to achieve eight-degree-of-freedom fast walking, the function of obstacle avoidance walking is achieved, the humanoid fast walking and tracking obstacle avoidance robot has the characteristics of high controllability, high attitude stability, simple structure, convenient installation and processing, and the robot is suitable for fast and stable walking environment.

Description

technical field [0001] The invention relates to the field of robots, in particular to a humanoid fast walking and obstacle avoidance robot. Background technique [0002] High simulation and human imitation are one of the main directions of robot development. The biped robot is a humanoid robot. It is difficult to realize the control of biped walking, but it has a strong advantage in practicality. Therefore, the humanoid walking robot is undoubtedly a research hotspot nowadays. A biped robot that can walk quickly uses actuators instead of muscles, which can support the body and coordinate continuous movement. It has very low requirements on the environment, can adapt to various grounds, and has a high ability to overcome obstacles, so it has broad application prospects. [0003] On a global scale, the United States and Japan have been at the forefront of robot research and development. By using a variety of sensing technologies and control algorithms, the United States co...

AI Technical Summary

Problems solved by technology

[0004] At present, the same type of small humanoid walking robots are generally driven by DC servo motors. This method has low control accuracy and unstable walking.

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