Adjustable for-foot bio-robot motion structure

Abstract

The present invention relates to a bionic robot movement structure capable of regulating four feet. It mainly includes top reference flat plate, four legs, four feet, driving device and sensing device, and is characterized by that on the top reference flat plate four symmetrical regulating grooves in which its four legs can be respectively moved are cut, between four legs and top reference flat plate the davit-mounting type structure is adopted, and the thighs and shanks can be respectively driven by their respective driving device and can be moved along their respective fulcrum. Said invention is simple in structure, and can have extensive application range.

Description

technical field [0001] The invention relates to an adjustable quadruped bionic robot motion structure, which belongs to the technical field of robots. Background technique [0002] The body of an animal is a very delicate machine with an extremely complex physical and chemical structure. Its common movement form is a rhythmic movement with time-space symmetry (such as walking, running, jumping, swimming, flying, etc.). Rhythmic motion depends on its specific basic structure of body shape, muscles, bones, and joints, and flexibly adjusts these structures under the regulation of the rhythmic motion control area in the body. This unity of structure and control function enables different animals to achieve different forms of movement, including walking, running, jumping or dancing, etc., and have different emphases in terms of movement performance. Since the rhythmic movement of animals has a high degree of stability and adaptability, which is unmatched by any mobile robot at p...

AI Technical Summary

Problems solved by technology

At present, the footed robot mechanisms used to realize the rhythmic movement of animals at home and abroad include the Japanese quadruped robots Patrush and Tekken, both of which can realize multiple sports functions such as walking on flat ground and overcoming obstacles. However, the legs of the Pafa lizard are only in the full-knee configuration, and the legs of the iron dog are only in the full-elbow configuration; the leg structure of the British hexapod robot Max (MAX) is oblique; Mai (BISAM) cannot adjust the distance between the front and rear legs to change the proportion of the robot's motion structure, etc.

Generally speaking, in the case of a certain number of joints, the motion structure and the types of bionic motion that can be realized by these robots are relatively single, and they lack the adjustment function for various structural parameters and motion parameters; Does not match well with control systems

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