Multi-legged robot

Abstract

The invention relates to the related technical field of robots, and discloses a multi-legged robot which comprises at least two robot units, each robot unit comprises a rack, a control mechanism, a driving mechanism and a foot part are installed on each rack, every two adjacent robot units are connected through a connecting structure, each connecting structure comprises a connecting part and an elastic part, and the connecting parts are connected with the connecting parts. The connecting parts are connected with the robot units, and the elastic parts are connected with the connecting parts on the adjacent robot units. According to the multi-legged robot, the elastic part is arranged to serve as the spine of the multi-legged robot, the multi-legged robot has the potential of higher running speed due to the elastic spine while modular assembly is achieved and the number of feet is freely adjusted, and under the same speed, the energy consumption is lower, the endurance is longer, and the posture adjustment of each robot unit is more free; and the terrain adaptability is higher.

Description

technical field [0001] The invention relates to the technical field related to robots, in particular to a multi-legged robot. Background technique [0002] Biped robots have higher kinematic performance in confined spaces, while quadruped robots have more stable motion and higher load capacity. The current robot configuration is given in the design process, mostly biped robots, quadruped robots, hexapod robots, etc. How to combine the advantages of different configurations of legged robots is a difficult point to be solved. Chinese patent CN108638041A, a modular robot, discloses a technical solution to solve the above-mentioned difficulties by modularly assembling the robot, but the disclosed The connection method is rigid connection, and it is a whole after assembly. Although the purpose of adjusting the number of feet can be achieved, it is difficult to give full play to the advantages of assembling the robot, and it is difficult to adjust the posture during use. It does ...

AI Technical Summary

Problems solved by technology

How to combine the advantages of different configurations of legged robots is a difficult point to be solved. Chinese patent CN108638041A, a modular robot, discloses a technical solution to solve the above-mentioned difficulties by modularly assembling the robot, but the disclosed The connection method is a rigid connection, and it is a whole after assembly. Although the purpose of adjusting the number of feet can be achieved, it is difficult to give full play to the advantages of the assembled robot, and it is difficult to adjust the posture during use. It does not have good adaptability. The connection methods between robots commonly used by personnel generally include connecting rod connection, rigid connection, etc. It is believed that elastic connection introduces passive degrees of freedom, which makes it difficult to realize the whole body control of the robot, resulting in the disadvantage of poor motion performance of the robot. In order to overcome the above technical prejudice, and In response to the above problems, this application has been proposed

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