An octapod robot with bionic rigid-flexible coupled legs and its control method
A rigid-flexible coupling and control method technology, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve the problems of weak carrying and moving capabilities of flexible search and rescue robots, high control requirements, and poor adaptability of rigid search and rescue robots
Active Publication Date: 2022-07-26
SOUTHEAST UNIV
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Problems solved by technology
[0004] The technical problem to be solved by the present invention is that the rigid search and rescue robot has poor adaptability and high control requirements, while the flexible search and rescue robot has weak carrying and moving capabilities. By applying the combination of rigid structure and flexible structure to the design of robot legs, combined A variety of gait control methods, and an eight-legged robot with bionic rigid-flexible coupled legs is proposed to realize functions such as movement detection in various complex environments
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[0049] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments:
[0050] Refer to the attached figure 1 and attached Image 6 The present invention discloses an octapod robot with bionic rigid-flexible coupling legs and a control method. The octapod robot comprises a frame 1, a casing 2, rigid-flexible coupling legs 3, a control processing module 4, and a sensing unit 5 , wireless transmission module 6, motor drive module 7 and power supply module 8;
[0051] Refer to the attached figure 1 , with figure 2 , with image 3 , the frame 1 is a rectangular plate structure, and the two sides are provided with a structure for installing the rigid-flexible coupling legs 3; the casing 2 includes an upper casing 2-1 and a lower casing 2-2, which are respectively installed On the upper and lower parts of the frame 1; the rigid-flexible coupling legs 3 include left leg one 3-1, left leg two 3-2, left leg ...
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The invention provides an octapod robot with bionic rigid-flexible coupling legs and a control method. The search and rescue robot includes a frame, a casing, a rigid-flexible coupling leg, a control processing module, a sensing unit, a wireless transmission module, and a motor drive module Like the power module, the rigid-flexible coupling legs include eight legs with the same structure, left leg 1, left leg 2, left leg 3, left leg 4 installed on the left side of the rack, and right leg 1, right leg 2, and right leg installed on the right side of the rack. The third right leg and the fourth right leg are composed of rigid segments, joint shafts, feet, torsion springs, linear drives, connectors and spring steel sheets, and the control methods include step length control methods, step frequency control methods, and height control methods. Method, frame and rigid-flexible coupled leg coordination control method, stable climbing gait control method and tunnel crossing gait control method. The eight-legged robot of the present invention combines rigid segments with flexible spring steel sheets, has the advantages of compact structure, light weight, adaptive flexibility, and the like, and can be used for tasks such as search and rescue, detection and the like.
Description
technical field [0001] The invention belongs to the intersection of robotics, sensing technology, computer science, control science, human-computer interaction technology, and medical rehabilitation, in particular to an eight-legged robot with bionic rigid-flexible coupled legs and a control method. Background technique [0002] Earthquake disasters occur frequently in my country, and post-disaster search and rescue work has always been a key area of research for researchers. Considering the complexity of the post-earthquake environment, such as the narrow gaps formed by the ruins and various rough roads, which are difficult for rescuers to enter, if the rescuers enter blindly without knowing the internal conditions of the collapsed building, they will face great danger. Dangerous, and may cause secondary injury to the trapped person. Therefore, it is necessary to quickly enter the collapsed building by a mobile robot with a compact structure, small size, strong adaptabil...
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IPC IPC(8): B25J11/00B25J19/00B25J9/16
CPCB25J11/00B25J19/00B25J9/1664
Inventor 张军周敬淞宋爱国刘琪金伟明
Owner SOUTHEAST UNIV