Controllable multi-point ground contact leg structure of quadruped robot and control method

A quadruped robot, multi-point contact technology, applied in the field of robotics, can solve the problems of being far away from the body, complex structure, difficult to meet high-performance dynamic requirements, etc., to achieve high adaptability, improve accuracy, and good grip.

Active Publication Date: 2021-11-26
李延博
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006](3) Some existing quadruped robots with single leg and single contact surface, such as CN108001560A, have 6 fully controllable degrees of freedom, but the structure is too complicated
The mass distribution of a single leg is limited by the mechanical structure of the scheme, and the center o

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  • Controllable multi-point ground contact leg structure of quadruped robot and control method
  • Controllable multi-point ground contact leg structure of quadruped robot and control method
  • Controllable multi-point ground contact leg structure of quadruped robot and control method

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[0035] For purposes of this disclosure, the technical solutions and advantages clearer, the following embodiment with reference to specific embodiments and with reference to the accompanying drawings, the present disclosure is further described in detail. It should be understood that these descriptions are exemplary only, and not to limit the scope of the present disclosure. Further, in the following description, a description of the well-known structure and techniques is omitted to avoid unnecessarily obscuring the concepts of the present disclosure.

[0036] In the description of embodiments of the present disclosure, the term "comprising" and similar terms should be understood to comprise open-ended, i.e., "including but not limited to." The term "based on" should be understood as "at least in part on." The term "one embodiment" or "this embodiment" should be understood as "at least one embodiment." The terms "first," "second," and the like may refer to the same or different ob...

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Abstract

The embodiment of the invention provides a controllable multi-point ground contact leg structure of a quadruped robot and a control method. A forearm comprises two or more ground contact points which are separated from each other; the plurality of ground contact points can be independently driven; the structure is simple, the reliability is high, and the possibility of low-cost and large-scale manufacturing is achieved; the leg structure is compatible with high trafficability of a traditional quadruped robot, and traditional control can be directly transplanted to the leg structure; in addition, a traditional quadruped robot belongs to an under-actuated system, the upper body has six degrees of freedom, but only five independent controls can be provided. According to the invention, the quadruped robot can have full-time and continuous six independent control of all six degrees of freedom of the upper body. The quadruped robot can achieve a full-drive system through a simple overall layout, and the stability of the quadruped robot is greatly improved while the high trafficability and high adaptability of a traditional quadruped robot are not affected.

Description

Technical field [0001] Embodiment of the present disclosure relates to the field of robotics, in particular to a multi-controllable quadruped robot leg structure and control method of contacting the ground. Background technique [0002] Quadruped robot currently available high-performance ground-contacting manner with each leg mostly single point (or a single region) in contact. A plurality of independently controllable single leg of the separation point (or separate regions) the quadruped robot rare contact with the ground, such as the current leg of the mechanical structure is too complicated, difficult to drive. Difficult to meet the requirements of high-performance sports. [0003] Deficiencies in the prior art are the following: [0004] Foot single point of contact (1) the traditional four-legged robot is prone to slide, seriously affect the stability of the robot. [0005] (2) a conventional single point contact quadruped robot, for example, a power Spot Boston, or MIT min...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 李延博
Owner 李延博
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