Soft bouncing robot capable of rapidly releasing and recovering energy, and method thereof

Abstract

The invention discloses a soft bouncing robot capable of rapidly releasing and recovering energy, and a method thereof. A main body is arranged in a shell, an energy storage part is arranged at one end of the main body, the energy storage part is used for converting input mechanical energy into elastic energy to be stored so as to realize bouncing of the bouncing robot, and a foot part is arrangedat the other end of the energy storage part; a gravity center control part is arranged at the other end of the main body, and the gravity center of the gravity center control part coincides with thegravity center of the energy storage part in the vertical direction and used for controlling the bouncing robot to incline in the fixed direction to generate a fixed bouncing angle; an energy collection part and an energy release part are arranged outside the energy storage part, and the energy collection part is used for controlling the main body and the feet to move oppositely; and the energy release part is used for releasing the constraint between the main body and the foot part and releasing the elastic energy stored in the energy storage part. The bouncing robot is compact in structure,easy to control, stable and reliable.

Description

technical field [0001] The invention belongs to the technical field of bouncing robots, and in particular relates to a soft bouncing robot capable of rapidly releasing and recovering energy and a method thereof. Background technique [0002] After long-term development of traditional hard robots, its technology has gradually matured. The existing ground mobile robots are mainly wheel-track robots, walking robots and crawling robots. For most traditional robots, their excessively restricted degrees of freedom make it difficult to achieve three-dimensional motion in a small space, and traditional robots are usually too bulky, have low energy efficiency, and require complex control systems. Moreover, for the above three types of ground mobile robots, their ability to overcome obstacles is always limited. When working in a complex environment, they are often unable to cross obstacles larger than their own size, and their application value is limited. [0003] Inspired by the so...

AI Technical Summary

Problems solved by technology

Robots actuated by chemical reactions have high energy density, but due to the existence of facilities such as cylinders, they are usually cumbersome, difficult to achieve stable control, and unable to achieve high-performance and continuous jumping; the rest of the actuation methods, although common It can make soft robots bounce, but there are still some problems, and it is impossible to make soft robots jump with high performance

First of all, its energy density is low, and the energy cannot be released quickly, and the energy utilization efficiency of bouncing during the take-off process is too low, so that the soft robot cannot achieve a higher jump than its own size; secondly, these soft robots The driving method has no energy capture device, cannot store energy, and cannot achieve continuous jumping, and consumes a lot of energy during exercise, which limits its bouncing performance

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