Frog-like amphibious robot and movement control method

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...

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