Frog-like amphibious robot and movement control method

A technology of robots and frogs, which is applied in the field of bionic robots, can solve problems such as electromechanical system drive joint coupling, increase the weight of limbs, and low movement efficiency, so as to achieve the effect of pitching attitude, solving kinematic coupling, and convenient control

Active Publication Date: 2021-06-15
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This requires multiple driving sources to drive, which involves the coupling problem of electromechanical system driving joint motion
At the same time, placing the actuators on the fins or leg joints will increase the weight of the limbs, resulting in inefficient movement

Method used

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  • Frog-like amphibious robot and movement control method
  • Frog-like amphibious robot and movement control method
  • Frog-like amphibious robot and movement control method

Examples

Experimental program
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Embodiment Construction

[0018] see figure 1 Shown, a kind of imitation frog amphibious robot comprises main body driving trunk 34, two thighs 35, two shanks 36, two hip joints 31, two knee joints 33, two ankle joints 37 and two flippers 38, the main body The driving trunk 34 is connected to the thigh 35 through the hip joint 31, the thigh 35 is connected to the calf 36 through the knee joint 33, and the calf 36 is connected to the flipper 38 through the ankle joint 37; it also includes two four-link forelimbs 32 and two sets of elastic energy storage release drives Mechanism 30; the four-link forelimb 32 is rotatably arranged on the main body driving trunk 34, and the power of the four-link forelimb 32 is provided by a driving source 39 arranged in the main body driving trunk 34, and the four-link forelimb 32 realizes pitching through the shoulder-elbow joint and stretching action, the power of the hip joint 31 is provided by the elastic energy storage and release drive mechanism 30 arranged in the m...

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Abstract

The invention discloses a frog-like amphibious robot and a movement control method, the frog-like amphibious robot comprises a main body driving rod, two thighs, two shanks, two hip joints, two knee joints, two ankle joints and two flippers, the main body driving rod is connected with the thighs through the hip joints, the thighs are connected with the shanks through the knee joints, and the shanks are connected with the flippers through the ankle joints; the device further comprises two four-connecting-rod front limbs and two sets of elastic energy storage release driving mechanisms. The four-connecting-rod forelegs are rotatably arranged on the main body driving rod, the power of the four-connecting-rod forelegs is provided by a driving source arranged in the main body driving rod, the four-connecting-rod forelegs achieve pitching and stretching actions through shoulder and elbow joints, and the power of hip joints is provided by an elastic energy storage release driving mechanism arranged in the main body driving rod so as to drive the thighs and the shanks to be in linkage. The stretching and flexion movement of the posterior limbs is realized. Good jumping and swimming are achieved, and the robot has the advantages of being compact in structure, convenient to control and capable of realizing movement decoupling.

Description

technical field [0001] The invention relates to a bionic robot, in particular to a frog-like amphibious robot and a motion control method. Background technique [0002] As an intelligent system capable of moving and completing predetermined tasks, mobile robots have begun to play an increasingly important role in fields such as exploration and reconnaissance, emergency rescue and disaster relief, and interstellar exploration. In recent years, with the development of my country's marine resource development strategy , amphibious mobile robots can be used as mobile carriers for detection equipment and communication systems in amphibious environments, and can better adapt to complex operating environments and task requirements, thereby performing various exploration and detection tasks that humans cannot complete. Frogs combine excellent land jumping ability and flexible underwater swimming ability. The current research on frog-like robots does not reflect the advantages of frog...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02B60F3/00
CPCB62D57/02B60F3/00
Inventor 樊继壮杜启龙李戈赵杰喻曦康林清
Owner HARBIN INST OF TECH
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