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Walking gait planning method for foot type desktop pet robot

A gait planning and robotics technology, applied in the field of robotics, can solve problems such as complex gait design, and achieve the effect of small amount of calculation

Pending Publication Date: 2022-03-25
灵起科技(深圳)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Solve the problem of complex gait design of the current legged desktop pet machine

Method used

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  • Walking gait planning method for foot type desktop pet robot
  • Walking gait planning method for foot type desktop pet robot
  • Walking gait planning method for foot type desktop pet robot

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0022] like figure 1 and figure 2 As shown, the footed desktop pet robot 1 includes a head 2, a left leg steering engine 3a, a left leg 4a, a left foot steering engine 5a, a left foot 6a, a right leg steering engine 3b, a right leg 4b, a right foot steering engine 5b, right foot 6b;

[0023] The left and right sides of the inner lower end of the head 2 are respectively fixedly connected with a left leg steering gear 3a and a right leg steering gear 3b, the rotating shaft 7a of the left leg steering gear 3a is connected to the left leg 4a by bolts, and the lower end of the left leg 4a is passed through Bolts connect the rotating shaft 8a of the left foot steering gear 5a, and the left foot steering gear 5a is fixedly connected on the left foot 6a; The rotating shaft 8b of machine, the right foot servo 5b is fixedly connected on the right foot 6b;

[0024] The walking gait planning method of the legged desktop pet robot is as follows:

[0025] The target positions of the l...

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Abstract

The invention relates to the technical field of robots, in particular to a walking gait planning method for a foot type tabletop pet robot. Comprising a head, a left leg steering engine, a left leg, a left foot steering engine, a left foot, a right leg steering engine, a right leg, a right foot steering engine and a right foot. In the walking gait planning method, the same expression is adopted for the target positions of four steering engines, the advancing direction, the foot lifting sequence, the foot lifting height, the stride and the step speed of the robot can be flexibly controlled by changing parameters, and the problem that the gait design of an existing foot type tabletop pet machine is complex is solved.

Description

technical field [0001] The invention relates to the technical field of robots, and more specifically relates to a walking gait planning method for a footed desktop pet robot. Background technique [0002] Contemporary young people living in big cities often suffer from problems such as dwelling in slums, loneliness, anxiety, autism, and high pressure. Some people alleviate the above-mentioned problems by keeping a pet, but many people do not have the conditions to keep a pet because of their living environment and other reasons. The desktop pet robot came into being, satisfying people's desire to keep pets, and solving the problems of people's lack of time and space. [0003] The desktop pet robot is a branch of the field of intelligent robots, focusing on aspects such as emotional interaction and accompanying entertainment. According to the action mode of the desktop pet robot, it can be divided into wheeled and footed. The wheeled tabletop pet robot has a simple way of ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/02
Inventor 张宇轩丁正正张洪涛
Owner 灵起科技(深圳)有限公司
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