Hydraulically-driving hexapod robot control system

Abstract

The invention belongs to the multi-legged robot technology field and especially relates to a hydraulically-driving hexapod robot control system. Most of the current hexapod robot controller systems have low reliability and stability. Aiming at the above problem, the following scheme is proposed. A vehicle frame and a control system are included. Left and right sides of the vehicle frame are provided with running mechanisms, the control system is arranged on an inner wall of the vehicle frame, and the control system comprises a handle control module, a main control module, a hydraulic cylindercontrol module, a hydraulic cylinder module, a displacement sensor module and a power supply module. The power supply module is connected to a power supply end of the main control module, and a signaloutput end of the handle control module is connected to a first signal input end of the main control module. The system has a simple structure, usage is wide, an open source code is achieved, development cost is low and learning and understanding are easy. The main controller has multiple expandable interfaces, which is convenient for real-time hardware extension. And there are various software functions.

Description

technical field [0001] The invention relates to the technical field of multi-legged robots, in particular to a hydraulically driven hexapod robot control system. Background technique [0002] As an important branch in the field of robotics, ground mobile robots have received extensive attention in recent years, and have shown great application value and broad market prospects in disaster relief, military operations, space exploration, and life services. With the advancement of high-performance chips and sensors, high-power-to-weight ratio drive components, and control theory, the development of ground mobile robots has also become more rapid, with new models emerging and more powerful functions. More and more occasions see mobile robots. [0003] According to the form of mobile devices, ground mobile robots can be divided into wheeled, crawler, leg-foot walking, wheel-foot compound and snake. Legged robots walk in a manner similar to that of living creatures, and are there...

AI Technical Summary

Problems solved by technology

Compared with other types of mobile robots, walking robots do not need continuous support points when walking, so they have stronger terrain adaptability and can cross larger obstacles on the premise that the overall size is similar to that of wheeled and tracked robots , and does not need to continuously overcome the resistance brought by the ground in the forward direction, the energy consumption of walking robots is lower than that of wheeled and crawler robots when traveling on soft roads; Strong attitude adjustment and shock absorption function can maintain a specific body attitude and center of gravity position even in rough terrain, so it can provide good working conditions for airborne equipment, but most of the current hexapod robot controller systems have reliability and Therefore, in view of the above status quo, it is urgent to develop a hydraulically driven hexapod robot control system to overcome the shortcomings in current practical applications

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