Autonomous splicing biped robot, multi-configuration robot and control method thereof

Abstract

The present disclosure proposes an autonomously splicable biped robot, a multi-configuration robot and a control method thereof, including a torso, arms, legs, a tolerance docking sleeve, and a torso docking device; the left and right sides of the torso are correspondingly provided with arms, Two legs are arranged on the lower side; the tolerance docking sleeve is movably arranged on the rear side of the trunk through the base, and the trunk docking device is fixed on the front side; in the present disclosure, the single biped robot can be self-organized and heavy. It can form a multi-configuration footed combination by means of structure, and realize multi-legged configuration such as bipedal, quadrupedal and hexapodal. Movements and operations such as sports and coordinated handling.

Description

technical field [0001] The present disclosure belongs to the technical field of foot-type mobile robots, and in particular relates to a biped robot, a multi-configuration robot and a control method thereof that can be independently spliced. Background technique [0002] Traditional wheeled and crawler mobile robots cannot meet the requirements of high passability of unstructured terrain. Mammalian-like robots have natural advantages in adapting to complex terrain due to their discrete footfall. Legged robots are mainly biped and quadruped robots. At present, quadruped robots can achieve good robust movement ability, but the movement ability of a single robot is limited, strong non-structural characteristics, strong mixed uneven and discontinuous terrain movement Insufficient ability; biped robots have developed rapidly in recent years, but except for a few robots such as Boston Dynamics ATLAS, the stability of most biped robots still faces huge challenges. [0003] The inve...

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Problems solved by technology

[0002] Traditional wheeled and tracked mobile robots cannot meet the needs of high passability in unstructured terrain. Mammal-like footed robots have natural advantages in adapting to complex terrain with the characteristics of discrete feet.

Legged robots are mainly biped and quadruped robots. At present, quadruped robots can achieve better robust motion capability, but the motion capability of a single robot is limited, and the movement under strong non-structural characteristics, strong mixed unevenness and discontinuous terrain Insufficient ability; biped robots have developed rapidly in recent years, but except for a few robots such as Boston Dynamics' ATLAS, most biped robots still face huge challenges in stability

[0003] The inventors of the present disclosure found that the current legged robot has problems such as limited load capacity, insufficient motion robustness, and poor operating ability.

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