Bionic bearing robot device and method of bionic bearing robot device for selecting gait pattern

Abstract

The invention discloses a bionic bearing robot device. The device comprises a carrying table, a rack, three-degree-of-freedom single legs and a control system, wherein the carrying table is arranged at the top end of the rack and is connected with the rack through a hole groove structure in a matched manner; four three-degree-of-freedom single legs are arranged on each of the two sides of the rack, and are arranged in a two-to-two symmetry mode; and the control system involves a pressure sensor, a main control board and a power supply, the pressure sensor is arranged at the joint of the carrying table and the rack, a support is arranged at the central position of the rack, the main control board and the power supply are arranged on the support, and both the power supply and the pressure sensor are electrically connected with the main control board. The bionic bearing robot device is reasonable in structural design and can better adapt to various terrains to better complete carrying tasks, and the gait pattern can be selected autonomously, so that not only is the obstacle crossing capability guaranteed, but also the better carrying capacity and the speed characteristic are achieved.

Description

technical field [0001] The invention relates to the technical field of robots, and more specifically relates to a bionic carrying robot device and a method for selecting a gait mode thereof. Background technique [0002] With the development of science and technology and the gradual improvement of automation, robots have been more and more widely used in various fields such as scientific research, detection, production, and rescue. Although there are many types of robots and different functions, in terms of their walking methods, there are mainly three types of wheels, crawlers and feet. Each of these three walking styles has its own characteristics. [0003] Wheeled and tracked are the most common ways of walking, which have the advantages of simple control, rapid and stable movement. But the obstacle-surmounting ability of legged robot is much higher than the former two. At the same time, for various complex terrains, legged robots also have stronger adaptability. [0...

AI Technical Summary

Problems solved by technology

[0009] At present, the common walking robots are bipedal, quadrupedal and hexapodal, and the number of legs of the bipedal, quadrupedal and hexapodal is less than that of the eight-legged type, and the load-carrying capacity of the legs Poor, the gait is not flexible enough, and the dynamic stability is poor

Moreover, most of the existing walking robots have a fixed walking gait, so that the joints of the body will be subject to a great impact when walking on rough and uneven roads, and they cannot complete the carrying task well.

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