Quadruped robot based on middle-waist auxiliary movement

Abstract

The invention discloses a quadruped robot based on middle-waist auxiliary movement. The quadruped robot comprises a left front leg, a right front leg, a front robot body, a waistline, a rear robot body, a left rear leg and a right rear leg. The left front leg and the right front leg are connected with the front robot body, the left rear leg and the right rear leg are connected with the rear robotbody, and the front robot body is connected with the rear robot body through the waistline; the left front leg, the right front leg, the left rear leg and the right rear leg have the same structure and are symmetrically arranged; and the left front leg comprises a first foot end, a first shank, a first shank hydraulic cylinder, a first thigh, a first hip, a first hip hydraulic cylinder and a firstthigh hydraulic cylinder. A middle waist structure is adopted to assist the quadruped robot in moving, problems of system disorder, low reliability and the like caused by complex control can be reduced, and moving flexibility and an obstacle crossing capacity of the robot are improved. And meanwhile, steering and other motion of the quadruped robot and gait coordination motion of four feet are better achieved through the middle waist.

Description

Technical field [0001] The invention belongs to the technical field of bionic quadruped robots, and specifically relates to a quadruped robot based on mid-waist assisted motion. Background technique [0002] Four-legged robots have become a hot and difficult point in robotics research in recent years due to their large load, high flexibility of movement, strong ability to overcome obstacles and strong environmental adaptability. They contact the ground through discrete points during the movement, and each support The legs can realize non-continuous ground support and have good flexibility. They have broad application prospects in military activities, on-site rescue and expedition demining. [0003] At present, the motion research on quadruped robots is in full swing, but most of them start from the control strategy of the robot's leg power system, which increases the complexity of the robot's leg control system and reduces the practicability and reliability of the robot. Summary o...

AI Technical Summary

Problems solved by technology

[0003] At present, research on the motion of quadruped robots is in full swing, but most of them start with the control strategy of the robot's leg power system, which increases the complexity of the robot's leg control system and reduces the practicability and reliability of the robot.

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