A biomimetic basilisk robot and method of controlling the same

Abstract

The application discloses a bionic snake-like lizard robot and a control method thereof. The bionic snake-like lizard robot comprises a robot body, robot leg parts arranged left and right symmetrically, and robot foot parts. The robot leg parts comprise a No. 1 robot leg and a No. 3 robot leg which are hinged to the robot body and arranged side by side, a No. 2 robot leg hinged to the No. 1 robot leg, and a No. 4 robot leg connected to the No. 3 robot leg, and sequentially form upper joints, middle joints and lower joints. The robot foot parts comprise a heel connected to the No. 2 robot leg and the No. 4 robot leg, a plurality of foot tendons evenly distributed on the heel, and a foot web located between adjacent foot tendons. The robot foot parts adopt a double-layer hollow structure, which can increase the contact area between the foot parts and water when the bionic snake-like lizard robot runs on the water surface, and can also ensure that the foot parts are not wet and maintain the dryness of the foot parts.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bionic robots, in particular to a bionic basilisk robot and a control method thereof. BACKGROUND

[0002] At present, the creatures capable of moving on water are mainly divided into two categories: one is small in body mass and can move on the water surface by surface tension, and the representative species are jumping water striders and water spiders; the other is mainly dependent on the body buoyancy to move, and the duck is the representative species thereof, and the movement process thereof is affected by the wave making resistance, and when the speed reaches a certain critical value, the resistance will rapidly rise, which is one of the key factors that the speed of the current water amphibious equipment cannot be improved.

[0003] Unlike the above, the basilisk lizard has a unique way of moving on water - water-treading running, and the basilisk lizard can generate upward lifting force and forward propelling force by continuously hitting the water surface with two soles during water running, so as to quickly pass through the water surface. The prior art has developed a bionic biped water robot taking the basilisk lizard as the bionic object, but the biped water robot in the prior art has complex structure and poor use effect. SUMMARY

[0004] The first object of the present application is to provide a bionic basilisk robot which is simple in structure, can increase the water contact area and ensure the dryness of the foot.

[0005] The second object of the present application is to provide a control method of the bionic basilisk robot.

[0006] Technical scheme: The bionic basilisk robot comprises a robot body, robot leg parts arranged symmetrically left and right, and robot feet, the robot leg parts comprise a No. 1 robot leg and a No. 3 robot leg which are hingedly connected to the robot body and arranged side by side, a No. 2 robot leg which is hingedly connected to the No. 1 robot leg, and a No. 4 robot leg which is connected to the No. 3 robot leg, and sequentially form upper joints, middle joints and lower joints; the robot feet comprise heels connected to the No. 2 robot leg and the No. 4 robot leg, a plurality of foot tendons uniformly distributed on the heels, and foot paddles located between adjacent foot tendons.

[0007] Among them, the foot paddles are double-layer hollow structures, the outer layer is a hydrophobic material, and the inner layer is a flexible material that expands under pressure.

[0008] Preferably, the thickness of the outer layer is less than the thickness of the inner layer.

[0009] Further, the lower surface of the robot body is provided with an upper joint connecting block for connecting the No.1 robot leg and an upper joint motor for driving the rotation of the upper joint, the upper joint of the No.1 robot leg is provided with an upper joint rolling bearing, the output shaft of the upper joint motor box is connected with an upper joint RV reducer, and the upper joint RV reducer is connected with the upper end of the No.3 robot leg.

[0010] Further, the hinge of the No.1 robot leg and the No.2 robot leg is provided with a middle joint rolling bearing, the hinge of the No.3 robot leg and the No.4 robot leg is provided with a middle joint RV reducer, and the output shaft of the middle joint RV reducer is connected with a middle joint motor.

[0011] Preferably, the hinge of the No.2 robot leg and the robot foot is provided with a lower joint rolling bearing, the hinge of the No.4 robot leg and the robot foot is provided with a lower joint RV reducer, and the output shaft of the lower joint RV reducer is connected with a lower joint motor.

[0012] Further, the lower end of the No.1 robot leg and the No.3 robot leg is provided with a motion retaining frame, and the lower end of the No.2 robot leg and the No.4 robot leg is provided with a motion retaining frame.

[0013] Further, the top of the robot body is provided with a solar panel for supplying power.

[0014] Preferably, the head of the robot body is a flat arc-shaped part.

[0015] The control method of the bionic snake-like lizard robot comprises the following steps:

[0016] Taking the right robot leg as an example, the upper joint motor is positively rotated, the output frame of the upper joint RV reducer is reversely rotated, the No.3 robot leg is lifted upward, the rotation speed of the upper joint motor reaches the set rotation speed, the lifting speed of the robot leg reaches the set speed, the motion amplitude of the No.3 robot leg reaches the set angle when the robot leg is lifted, the verticality to the upper body of the robot is 0°, the upper joint motor is reversely rotated, the output frame of the upper joint RV reducer is positively rotated, the No.3 robot leg is kicked downward, the limit angle reaches the set angle when the robot leg is kicked, and the kicking speed is consistent with the lifting speed;

[0017] When the No.3 robot leg is lifted, the middle joint motor is positively rotated, the rotation speed of the middle joint motor reaches the set rotation speed, the output frame of the middle joint RV reducer is reversely rotated, the No.4 robot leg is rotated downward by the set angle, and the rotation speed of the No.4 robot leg reaches the set speed; the No.4 robot leg is kept vertical to the No.3 robot leg during the rotation; when the No.3 robot leg is kicked, the middle joint motor is reversely rotated, the output frame of the middle joint RV reducer is positively rotated, the No.4 robot leg is rotated upward by the set angle, and the No.4 robot leg cooperates with the No.3 robot leg to perform the kicking action;

[0018] When the No. 3 robot leg lifts the leg, the lower joint motor reverses, the lower joint motor rotation speed reaches the set rotation speed, the lower joint RV reducer output frame rotates forward, the robot foot rotates counterclockwise by a set angle, the robot foot rotation speed reaches the set rotation speed, and the lifting leg action is performed; when the No. 3 robot leg kicks the leg, the lower joint motor rotates forward, the lower joint motor rotation speed reaches the set rotation speed, the lower joint RV reducer output frame reverses, the robot foot rotates clockwise by a set angle, the robot foot rotation speed reaches the set rotation speed, and the kicking leg action is performed; after the kicking leg action is completed, the lower joint motor reverses, and the robot foot rotates counterclockwise by a set angle.

[0019] Advantages: Compared with the prior art, the present application has the following remarkable advantages: the present application uses a motor to drive a reducer to drive the robot leg to realize alternating kicking and lifting, and realizes water surface walking by simulating the movement mode of a chameleon, effectively avoiding the problem of large wave exciting resistance when an object with a certain weight moves at high speed in water; meanwhile, the double-layer hollow structure of the robot foot can not only increase the contact area of the foot with water when the chameleon robot runs on the water surface, but also can ensure that the foot is not wet, thereby maintaining the dryness of the foot. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structural schematic diagram of the present application;

[0021] Figure 2 is a structural schematic diagram of the robot body in the present application Figure 1 ;

[0022] Figure 3 is a structural schematic diagram of the robot body in the present application Figure 2 ;

[0023] Figure 4 is a structural schematic diagram of the robot leg and the robot foot in the present application;

[0024] Figure 5 is an exploded schematic diagram of the robot leg and the robot foot in the present application;

[0025] Figure 6 is a structural schematic diagram of the reducer in the present application;

[0026] Figure 7 is a structural schematic diagram of the upper joint rolling bearing in the present application;

[0027] Figure 8 is a structural schematic diagram of the lower joint or the middle joint rolling bearing in the present application;

[0028] Figure 9 is a structural schematic diagram of the robot foot in the present application;

[0029] Figure 10The figure shows the foot-paw of the invention before water expansion;

[0030] Figure 11 The figure shows the foot-paw of the invention after water expansion;

[0031] Figure 12 The figure shows the control flow chart of the invention. DETAILED DESCRIPTION

[0032] The technical solutions of the invention are further described below in combination with the drawings.

[0033] As Figure 1 shown, the bionic snake-like robot of the invention includes a robot body 1, robot legs arranged symmetrically on the left and right, and robot feet. The robot moves by alternating the movements of the robot legs and the robot feet.

[0034] The two robot legs and the feet are arranged symmetrically. Taking the right leg and the right foot as an example, the robot leg includes a No. 1 robot leg 2, a No. 3 robot leg 3, a No. 2 robot leg 4, a No. 4 robot leg 5, an upper joint connecting block 9, an upper joint motor 10, an upper joint rolling bearing 11, an upper joint RV reducer 12, a middle joint rolling bearing 13, a middle joint RV reducer 14, a middle joint motor 15, a lower joint rolling bearing 16, a lower joint RV reducer 17, a lower joint motor 18, and a motion retaining frame 19.

[0035] As Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, two upper joint connecting blocks 9 are symmetrically arranged on the lower surface of the robot body 1, and the upper joint connecting block 9 is provided with an upper joint connecting shaft 22 for connecting the No. 1 robot leg, and the upper joint connecting shaft 22 is connected with the No. 1 robot leg through an upper joint rolling bearing 11, so that the leg can only rotate, and the upper joint motor 10 cooperates to control the movement of the robot leg. The lower surface of the robot body 1 has two symmetrically arranged working boxes for mounting the upper joint motor 10, and the upper joint motor 10 is located on the lower surface of the robot body 1. The hinge between the No. 1 robot leg 2 and the upper joint connecting block 9 is provided with an upper joint rolling bearing 11, and the output shaft of the upper joint motor 10 is connected with an upper joint RV reducer 12, and the upper joint RV reducer 12 is connected with the upper end of the No. 3 robot leg 3. The hinge between the No. 1 robot leg 2 and the No. 2 robot leg 4 is provided with a middle joint rolling bearing 13, and the hinge between the No. 3 robot leg 3 and the No. 4 robot leg 5 is provided with a middle joint RV reducer 14, and the output shaft of the middle joint RV reducer 14 is connected with a middle joint motor 15. The hinge between the No. 2 robot leg 4 and the robot foot is provided with a lower joint rolling bearing 16, and the hinge between the No. 4 robot leg 5 and the robot foot is provided with a lower joint RV reducer 17, and the output shaft of the lower joint RV reducer 17 is connected with a lower joint motor 18. The lower ends of the No. 1 robot leg 2 and the No. 3 robot leg 3 are provided with a movement retaining frame 19, and the lower ends of the No. 2 robot leg 4 and the No. 4 robot leg 5 are provided with a movement retaining frame 19. The No. 1 robot leg 2 and the No. 3 robot leg 3 are arranged side by side, the No. 1 robot leg 2 is hinged with the robot body 1, the No. 2 robot leg 4 is hinged with the No. 1 robot leg, the No. 4 robot leg 5 is hinged with the No. 3 robot leg, and the upper joint, the middle joint and the lower joint are sequentially formed.

[0036] As shown in Figure 9 , Figure 10 and Figure 11 , the robot foot includes a heel 6 connected with the No. 2 robot leg and the No. 4 robot leg, a plurality of foot tendons 7 uniformly distributed on the heel, and a foot web 8 located between adjacent foot tendons, the foot web 8 is a double-layer hollow structure, the outer layer is a hydrophobic material, the inner layer is a flexible material that expands under pressure, and the thickness of the outer layer is less than the thickness of the inner layer.

[0037] The top of the robot body 1 is provided with a solar panel 20 for supplying power, and the solar panel 20 can supply power to the upper joint motor 10, the middle joint motor 15 and the lower joint motor 18, and the solar panel 20 can provide energy for the robot, and in the normal working environment, the solar energy can reduce the energy demand of the device.

[0038] The robot leg is provided with a No. 1 robot leg and a No. 2 robot leg, a No. 3 robot leg and a No. 4 robot leg, the upper, middle and lower joints of the No. 1 robot leg and the No. 2 robot leg are connected through rolling bearings, as shown in Figs. Figure 7 and Figure 8 The joints are limited to rotation only, the upper, middle and lower joints of the No. 3 robot leg and the No. 4 robot leg are fixed on the output frame end surface of the upper joint RV reducer, the middle joint RV reducer and the lower joint RV reducer through bolts, the motor at the joint controls the movement direction and rotation speed of the robot leg through the RV reducer, the No. 1 robot leg and the No. 3 robot leg, and the No. 2 robot leg and the No. 4 robot leg are provided with a movement retaining frame which is welded to ensure consistent movement. The middle joint motor is fixed outside the middle joint of the No. 3 robot leg, the middle joint RV reducer pin gear shell is fixed inside the middle joint of the No. 3 robot leg through bolts, the middle joint RV reducer output frame is fixed to the No. 4 robot leg through bolts, the middle joint motor is placed in a servo motor box, the movement of the No. 4 robot leg and the No. 2 robot leg is controlled through the middle joint RV reducer, the lower joint motor is arranged at the lower joint of the No. 4 robot leg, the lower joint RV reducer pin gear shell is installed inside the No. 4 robot leg through bolts, the robot foot is installed on the end surface of the lower joint RV reducer output frame through bolts, and the movement of the robot foot is controlled through the lower joint RV reducer. The structure and working principle of the left leg of the robot are the same as those of the right leg, and the two legs cooperate to simulate the movement mode of the snake-like lizard to walk on water. As shown in Fig. Figure 6 The RV reducer is fixed by the pin gear shell, and the output frame outputs the working mode. The RV reducer is used as the link between the robot joint and the reducer, which can amplify the torque of the motor and prolong the service life of the motor.

[0039] The left joint of the heel is fixed on the output frame end surface of the lower joint RV reducer through bolts, and the right joint is connected to the No. 2 robot leg through rolling bearings, which limits the foot to rotate and cooperates with the reducer to control the movement of the foot. In order to ensure that the foot has enough contact area with the water surface and the strength of the foot web, a total of 5 foot muscles are arranged on the foot. The overall structure of the foot web is a double-layer hollow structure, the inner layer is thicker and is a flexible material for pressure expansion, and the outer layer is thinner and is a hydrophobic material. The double-layer hollow structure can increase the contact area of the foot with the water when the snake-like lizard robot runs on the water surface, and can also ensure that the foot does not get wet and maintains the dryness of the foot.

[0040] The control method of the bionic snake-like lizard robot comprises the following steps:

[0041] Taking the right robot leg as an example, the upper joint motor is positively rotated, the upper joint RV reducer output frame is reversely rotated, the No. 3 robot leg is lifted upward, the upper joint motor rotation speed reaches 2500 rpm, the leg lifting speed reaches 120 rpm, the movement range of the No. 3 robot leg when lifting the leg reaches 60°, the vertical to the robot upper body is 0°, the upper joint motor is reversely rotated, the upper joint RV reducer output frame is positively rotated, the No. 3 robot leg is downwardly kicked, the limit angle of the kicking leg reaches -30°, and the kicking leg speed is consistent with the leg lifting speed;

[0042] When the No. 3 robot leg is lifted, the middle joint motor is positively rotated, the middle joint motor rotation speed reaches 2000 rpm, the middle joint RV reducer output frame is reversely rotated, the No. 4 robot leg is downwardly rotated by 60°, and the No. 4 robot leg rotation speed reaches 120 rpm; the rotation process is kept perpendicular to the No. 3 robot leg; when the No. 3 robot leg is kicked, the middle joint motor is reversely rotated, the middle joint RV reducer output frame is positively rotated, the No. 4 robot leg is upwardly rotated by 60°, and the No. 4 robot leg cooperates with the No. 3 robot leg to perform a kicking leg action;

[0043] When the No. 3 robot leg is lifted, the lower joint motor is reversely rotated, the lower joint motor rotation speed reaches 1500 rpm, the lower joint RV reducer output frame is positively rotated, the robot foot is counterclockwise rotated by 30°, the robot foot rotation speed reaches 100 rpm, and a leg lifting action is performed; when the No. 3 robot leg is kicked, the lower joint motor is positively rotated, the lower joint motor rotation speed reaches 1500 rpm, the lower joint RV reducer output frame is reversely rotated, the robot foot is clockwise rotated by 30°, the robot foot rotation speed reaches 100 rpm, a kicking water action is performed, and after the kicking water action is completed, the lower joint motor is reversely rotated, and the robot foot is counterclockwise rotated by 60°.

[0044] As shown in Figure 12 The control method of the snake-like chameleon robot in the application comprises the following steps:

[0045] Step 1, place the snake-like chameleon robot in a working position;

[0046] Step 2, RV reducer pin gear shell is fixed outside the motor box, the robot leg is connected to the RV reducer output frame, the upper joint servo motor is nested in the reducer input shaft tail, the input shaft is engaged with the planetary gear of the reducer, the servo motor controls the steering and speed of the reducer through the input shaft, the upper joint has 2 reducers and motors, respectively corresponding to the No. 1 robot leg of the left leg and the No. 3 robot leg of the right leg; The left and right symmetrical upper joint motors control the movement direction and speed of the No. 1 robot leg and the No. 3 robot leg through the upper joint RV reducer, and make the running and lifting leg action, which is taken as the No. 3 robot leg of the right leg as an example for description: the upper joint motor provides power for the upper joint RV reducer through the input shaft, the upper joint motor rotates forward, the reducer output frame reverses, the No. 3 robot leg lifts up, the motor speed requirement reaches 2500 rpm, the lifting leg speed requirement reaches 120 rpm, the movement amplitude requirement of the No. 3 robot leg when lifting the leg reaches 60°, taking the vertical to the robot upper body as 0°, the upper joint motor reverses, the reducer output frame rotates forward, the No. 3 robot leg does the kicking leg action downward, and the limit angle requirement reaches-30° when kicking the leg, and the kicking leg speed is consistent with the lifting leg speed. The No. 3 robot leg and the No. 1 robot leg move coordinately, the No. 3 robot leg lifts the leg, and the No. 1 robot leg does the kicking leg action; the No. 3 robot leg kicks the leg, and the No. 1 robot leg does the lifting leg action;

[0047] Step 3, the middle joint motor works to control the movement direction and speed of the No. 2 robot leg and the No. 4 robot leg through the middle RV reducer, and makes the running and lifting leg action, the middle joint motor is fixed outside the No. 3 robot leg, the middle joint has 2 motors and reducers, respectively corresponding to the No. 2 robot leg of the left leg and the No. 4 robot leg of the right leg, the middle joint motor controls the movement direction and speed of the No. 2 robot leg and the No. 4 robot leg of the robot through the middle joint RV reducer, which is taken as the No. 4 leg of the right leg as an example for description: when the No. 3 robot leg lifts the leg, the middle joint motor rotates forward, the motor speed requirement reaches 2000 rpm, the reducer output frame reverses, the No. 4 robot leg rotates downward by 60°, and the robot leg rotation speed requirement reaches 120 rpm; During the rotation process, it is kept vertical to the No. 3 robot leg, when the No. 3 robot leg kicks the leg, the middle joint motor reverses, the reducer output frame rotates forward, the No. 4 robot leg rotates upward by 60°, and cooperates with the No. 3 robot leg to do the kicking leg action, the No. 2 robot leg and the No. 4 robot leg move coordinately, the No. 4 robot leg cooperates with the No. 3 robot leg to do the kicking leg action, and the No. 2 robot leg cooperates with the No. 1 robot leg to do the lifting leg action, and the action speed is consistent;

[0048] Step 4, the lower joint motor works to control the robot foot to do the running treading action by the RV reduction mechanism, the lower joint motor is fixed outside the No. 4 robot leg and the No. 2 robot leg, the lower joint motor and the reduction mechanism correspond to the left foot and the right foot of the robot respectively; here, taking the right foot as an example to illustrate: when the No. 3 robot leg lifts the leg, the lower joint motor reverses, the motor speed requirement reaches 1500 rpm, the reduction mechanism output frame rotates forward, the right foot rotates counterclockwise by 30°, the right foot rotation speed requirement reaches 100 rpm, and the leg lifting action is done; during the process that the robot kicks the leg to tread water, after the right foot contacts the water surface, the lower joint motor uniformly rotates forward, the rotation speed requirement is 1500 rpm, the reduction mechanism output frame reverses, the right foot rotates clockwise by 30°, the rotation speed requirement is 100 rpm, the water kicking action is done, and after the water kicking is completed, the lower joint motor rotates forward, and the right foot rotates counterclockwise by 60°. The left foot and the right foot cooperate to complete the water kicking action;

[0049] Step 5, when the right leg completes the running action, the left leg repeats the action of the left leg, and the circulation is repeated.

[0050] The snake-like chameleon robot of the application realizes water surface walking by simulating the movement mode of the snake-like chameleon, expands the type of the current amphibious equipment in water, and the device not only has a certain load capacity but also can effectively avoid the problem of large wave resistance of the object in high-speed water movement.

Claims

1. A control method of a bionic basilisk robot, characterized by, The bionic snake-like robot comprises a robot body (1), robot legs arranged symmetrically left and right, and a robot foot, the robot legs comprise a No. 1 robot leg (2) and a No. 3 robot leg (3) which are hinged to the robot body (1) and arranged side by side, a No. 2 robot leg (4) which is hinged to the No. 1 robot leg, and a No. 4 robot leg (5) which is connected to the No. 3 robot leg, and sequentially form upper joints, middle joints and lower joints; the lower surface of the robot body (1) is provided with an upper joint motor (10) for driving the upper joints to rotate, an output shaft of the upper joint motor (10) is connected with an upper joint RV speed reducer (12), the upper joint RV speed reducer (12) is connected with the upper end of the No. 3 robot leg (3); a middle joint RV speed reducer (14) is arranged at the hinge joint of the No. 3 robot leg (3) and the No. 4 robot leg (5), an output shaft of the middle joint RV speed reducer (14) is connected with a middle joint motor (15); a lower joint RV speed reducer (17) is arranged at the hinge joint of the No. 4 robot leg (5) and the robot foot, an output shaft of the lower joint RV speed reducer (17) is connected with a lower joint motor (18); The method comprises the following steps: Taking the right robot leg as an example, the upper joint motor (10) is positively rotated, the output shaft of the upper joint RV speed reducer (12) is reversely rotated, the No. 3 robot leg (3) is lifted upward, the rotation speed of the upper joint motor (10) reaches a set rotation speed, the lifting speed reaches a set speed, the movement amplitude of the No. 3 robot leg (3) reaches a set angle when the No. 3 robot leg (3) is lifted, the verticality to the upper body of the robot is 0°, the upper joint motor (10) is reversely rotated, the output shaft of the upper joint RV speed reducer (12) is positively rotated, the No. 3 robot leg (3) performs a kicking action downward, the limit angle reaches a set angle when the No. 3 robot leg (3) kicks, and the kicking speed is consistent with the lifting speed; When the No. 3 robot leg (3) is lifted, the middle joint motor (15) is positively rotated, the rotation speed of the middle joint motor (15) reaches a set rotation speed, the output shaft of the middle joint RV speed reducer (14) is reversely rotated, the No. 4 robot leg (5) is rotated downward by a set angle, and the rotation speed of the No. 4 robot leg (5) reaches a set speed; the No. 4 robot leg (5) is kept perpendicular to the No. 3 robot leg (3) during the rotation; when the No. 3 robot leg (3) kicks, the middle joint motor (15) is reversely rotated, the output shaft of the middle joint RV speed reducer (14) is positively rotated, and the No. 4 robot leg (5) is rotated upward by a set angle to cooperate with the No. 3 robot leg (3) to perform a kicking action; When the No. 3 robot leg (3) lifts the leg, the lower joint motor (18) reverses, the rotation speed of the lower joint motor (18) reaches the set rotation speed, the output shaft of the lower joint RV reducer (17) rotates forward, the robot foot rotates counterclockwise by a set angle, the rotation speed of the robot foot reaches the set rotation speed, and the lifting foot action is performed; when the No. 3 robot leg (3) kicks the leg, the lower joint motor (18) rotates forward, the rotation speed of the lower joint motor (18) reaches the set rotation speed, the output shaft of the lower joint RV reducer (17) reverses, the robot foot rotates clockwise by a set angle, the rotation speed of the robot foot reaches the set rotation speed, and the kicking water action is performed; after the kicking water action is completed, the lower joint motor (18) reverses, and the robot foot rotates counterclockwise by a set angle.

2. The control method of the biomimetic basilisk robot according to claim 1, wherein The robot foot comprises a heel (6) connected to the No. 2 robot leg and the No. 4 robot leg, a plurality of foot muscles (7) uniformly distributed on the heel, and a foot web (8) located between adjacent foot muscles.

3. The control method of the bionic basilisk robot according to claim 2, characterized in that, The foot web (8) is a double-layer hollow structure, the outer layer is a hydrophobic material, and the inner layer is a flexible material that expands under pressure.

4. The control method of the bionic basilisk robot according to claim 3, characterized in that, The thickness of the outer layer is less than the thickness of the inner layer.

5. The control method of the bionic basilisk robot according to claim 1, characterized in that, The lower surface of the robot body (1) is provided with an upper joint connecting block (9) for connecting the No. 1 robot leg, and the upper articulation of the No. 1 robot leg (2) is provided with an upper joint rolling bearing (11). 6.The control method of the bionic basilisk robot according to claim 1, characterized in that, The articulation of the No. 1 robot leg (2) and the No. 2 robot leg (4) is provided with a middle joint rolling bearing (13).

7. The control method of the bionic basilisk robot according to claim 1, characterized in that, The articulation of the No. 2 robot leg (4) and the robot foot is provided with a lower joint rolling bearing (16).

8. The control method of the bionic basilisk robot according to claim 1, characterized in that, The lower ends of the No. 1 robot leg (2) and the No. 3 robot leg (3) are provided with a motion retaining frame (19), and the lower ends of the No. 2 robot leg (4) and the No. 4 robot leg (5) are provided with a motion retaining frame (19).

9. The control method of the bionic basilisk robot according to claim 1, characterized in that, The top of the robot body (1) is provided with a solar panel (20) for supplying power.

10. The control method of the bionic basilisk robot according to claim 1, characterized in that, The head of the robot body is a flat arc-shaped portion.

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