Quadruped robot based on middle-waist auxiliary movement

A quadruped robot with mid-waist technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems of reducing the practicality and reliability of the robot, and increasing the complexity of the robot's leg control system

Pending Publication Date: 2020-10-30
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • Quadruped robot based on middle-waist auxiliary movement
  • Quadruped robot based on middle-waist auxiliary movement
  • Quadruped robot based on middle-waist auxiliary movement

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Embodiment Construction

[0035] The present invention will be described in detail below in conjunction with the embodiments shown in the drawings, but it should be noted that these embodiments are not a limitation of the present invention, and those of ordinary skill in the art make functional, method, or structural improvements based on these embodiments. Equivalent changes or substitutions fall within the protection scope of the present invention.

[0036] Participate figure 1 , image 3 As shown, this embodiment provides a quadruped robot based on mid-waist assisted movement, including left front leg 1, right front leg 2, front body 3, middle waist 4, rear body 5, left rear leg 6 and right rear leg 7. ; The left front leg 1 and the right front leg 2 are connected to the front body 3, the left rear leg 6 and the right rear leg 7 are connected to the rear body 5, and the front body 3 is connected to the rear body 5 through the mid-waist 4;

[0037] The left front leg 1, the right front leg 2, the left rea...

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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...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 赵杰亮邢晋王文中
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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