An amphibious quadruped robot based on deformable floating legs and its driving method

Abstract

The invention discloses an amphibious quadruped robot based on deformable floating legs, which comprises a support frame, an electric control assembly, a sealing shell, floating legs and a flexible driving module of the flippers. The four floating legs are arranged on the sealing cover plates on the front and rear sides of the sealed casing in a center-symmetrical manner, and a flexible driving module with webbed feet is arranged at the lower leg of each floating leg. The flexible driving module of the flipper of the present invention is arranged in the sealed casing of the robot, and the driving force is transmitted to the flipper mechanism through the flexible rope, so as to control the floating leg to switch between the foot shape and the flipper shape. The invention adopts a flexible driving method to separate the driving motor and the motion mechanism that needs to be driven. By improving the flexible driving module of the quadruped robot's floating legs and webbed feet, it not only maintains the ability of the footed robot to move on land, but also improves the Gained the ability to dive or walk underwater.

Description

technical field [0001] The invention belongs to the technical field of footed robots, in particular to an amphibious quadruped robot based on deformable floating legs and a driving method thereof. Background technique [0002] In marine research, it is often necessary to pay attention to the complex wading environment such as the seabed and the shoal belt where the ocean and land connect, which promotes the development of underwater vehicles. However, for underwater vehicles propelled by propellers, the propellers are easy to raise sand and gravel in the seabed and shoal areas, which will have a significant impact on the observation of the seabed environment and the normal propulsion of the propellers. In addition, the noise of the propeller propulsion system is large and the sound wave characteristics are obvious, which is easy to disturb the target observation object and the hidden seabed. Therefore, it is necessary to vigorously research amphibious robots that can walk f...

AI Technical Summary

Problems solved by technology

[0004] At present, most of the amphibious bionic robots are based on the research of aquatic organisms such as crabs, water striders, water snakes, lobsters, or sea turtles. There are also a small number of bionic robots based on terrestrial organisms with swimming ability, mainly researching the walking movement of robots on land underwater There are few relevant studies on the propulsion of the legs when the robot is floating, and it usually only has simple land walking ability, and does not have the mobility and complex terrain adaptability of normal land quadruped robots.

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