A form-transformable quadruped robot

Abstract

The invention discloses a shape-transformable quadruped robot, comprising: a mechanical leg, a robot torso, and a modular mechanical arm; the mechanical leg is connected with the robot torso; the modular mechanical arm is placed on the robot torso , connected with the mechanical leg after removal. The present invention can change the walking mode of the quadruped robot through the reconfiguration of the leg shape, quickly adapt to different environments, and improve the ability to move and cross-country; adding the wheeled movement mode can realize the rapid movement of the quadruped robot on the flat road; the modular mechanical arm The mechanical legs of the quadruped robot can be converted into mechanical arms through the interface, and the operation ability of the quadruped robot can be improved without adding additional mechanical arms.

Description

technical field [0001] The invention relates to the field of robots, in particular to a shape-transformable quadruped robot. Background technique [0002] Although wheeled robots have the characteristics of high speed and high stability, their moving range is limited, and most wheeled robots can only run indoors or on flat roads. With the development of science and technology and people's in-depth research on terrains such as rain forests, mountains and glaciers, the shortcomings of wheeled robots are becoming more and more obvious. The quadruped robot has stronger off-road performance and can easily cross rough terrain such as ravines, jungles, deserts, etc. Compared with wheeled robots, it has a larger moving space and can meet the needs of various tasks, such as jungles Expeditions, polar scientific expeditions, etc., but their mobility is poor and the movement speed is slow. In addition, quadruped robots can perform tasks that humans cannot complete or are dangerous, s...

AI Technical Summary

Problems solved by technology

Quadruped robots have stronger off-road performance and can easily cross rough terrain such as ravines, jungles, and deserts. Compared with wheeled robots, they have more room for movement and can meet the needs of various tasks, such as jungles. Expeditions, polar scientific expeditions, etc., but its mobility is poor and its moving speed is slow

However, in this case, the weight of the quadruped robot will be increased, the load capacity of the quadruped robot will be reduced, and the stability of the robot will be affected.

[0005] Most of the knee joints of current quadruped robots can only adopt one configuration, and cannot change configurations

Unable to flexibly adapt to various complex environments, the robot's control algorithm requires high requirements when passing through special roads

[0006] Compared with wheeled robots, quadruped robots have a common problem of slow moving speed, so some researchers have installed wheels on quadruped robots; and most of the current wheels are installed on the knee joints or soles of quadruped robots. Low position, high center of gravity not suitable for fast movement

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