A three-legged and four-legged mixed gait walking method for a five-legged robot

Abstract

The invention belongs to the technical field of multi-legged robot walking, and specifically relates to a three-legged and four-legged mixed gait walking method for a five-legged robot; five walking feet are arranged on both sides of a robot body according to the walking direction of the robot, three walking feet are arranged on one side, marked as walking foot A1, walking foot A2, and walking foot A3 from front to back, and two walking feet are arranged on the other side, marked as walking foot B1 and walking foot B2 from front to back, and the walking feet on both sides are arranged at intervals; the five walking feet are divided into three groups for coordinated action, wherein the walking foot A3 and the walking foot B1 are a group, marked as the first coordinated pair of feet; the walking foot A2 is a group alone, marked as the second coordinated foot; the walking foot A1 and the walking foot B2 are a group, marked as the third coordinated pair of feet; the forward stride sequence of the robot is the first coordinated pair of feet, the second coordinated foot, and the third coordinated pair of feet in a cycle; the backward stride sequence is the third coordinated pair of feet, the second coordinated foot, and the first coordinated pair of feet in a cycle; compared with a hexapod robot, the walking efficiency thereof remains unchanged.

Description

Technical Field

[0001] The invention belongs to the technical field of multi-legged robot walking, and in particular relates to a three-legged and four-legged mixed gait walking method for a five-legged robot. Background Art

[0002] A multi-legged robot achieves its own movement through the coordinated movement of multiple legs, also known as gait. In theory, there are many gaits, but not every gait can make the robot move stably and effectively.

[0003] Currently, the robots that are widely used include bipedal, quadrupedal, and hexapodal robots. Among them, bipedal robots have the broadest development prospects and are used in research in artificial intelligence, automatic control, optoelectronic science, etc.; quadrupedal robots have the longest development history, and their bionic dog robots have already been simply involved in human life; hexapodal robots take into account both walking efficiency and walking stability, and can be used for walking and carrying loads in complex ground conditions.

[0004] When underground engineering has strict requirements on the space to pass through and walking stability, the six-legged robot has a relatively large size because its six walking legs occupy a large space, which has its limitations in passing through narrow spaces. Therefore, it is necessary to study multi-legged robots that have walking stability comparable to that of hexapod robots but with smaller size. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-legged robot which has walking stability comparable to that of a hexapod robot but with smaller dimensions.

[0006] The present invention provides the following technical solution: a three-legged and four-legged mixed gait walking method for a five-legged robot, wherein five walking legs are arranged on both sides of the robot body according to the walking direction of the robot, three walking legs are arranged on one side, marked as walking legs A1, walking legs A2, and walking legs A3 from front to back, and two walking legs are arranged on the other side, marked as walking legs B1 and walking legs B2 from front to back, and the walking legs on both sides are arranged at intervals;

[0007] The five walking legs are divided into three groups of coordinated movements, among which walking legs A3 and walking legs B1 are a group, marked as the first coordinated pair of legs; walking legs A2 are a group alone, marked as the second coordinated pair of legs; walking legs A1 and walking legs B2 are a group, marked as the third coordinated pair of legs;

[0008] The robot's forward stride sequence is the first coordinated pair of feet, the second coordinated pair of feet, and the third coordinated pair of feet in a cycle; the backward stride sequence is the third coordinated pair of feet, the second coordinated pair of feet, and the first coordinated pair of feet in a cycle.

[0009] Furthermore, when the robot moves forward, it detects the landing positions of the first collaborative pair of feet, the second collaborative pair of feet, and the third collaborative pair of feet. The collaborative foot / pair of feet that is last in the walking direction steps first, and then moves in a cyclical sequence of the first collaborative pair of feet, the second collaborative pair of feet, the third collaborative pair of feet, and the first collaborative pair of feet; when the first collaborative pair of feet steps, the second and third collaborative pairs of feet support and swing; when the first collaborative pair of feet completes its step, the second collaborative foot steps, and the first and third collaborative pairs of feet support and swing; when the second collaborative foot completes its step, the third collaborative foot steps, and the first and second collaborative feet support and swing; when the third collaborative pair of feet completes its step, the first collaborative pair of feet steps again, and the walking is completed in this cyclical manner.

[0010] Furthermore, when the robot moves backward, it detects the landing positions of the first collaborative pair of feet, the second collaborative pair of feet, and the third collaborative pair of feet, and the collaborative foot / pair of feet that is located last in the walking direction steps first, and then the robot moves in a cyclic sequence of the third collaborative pair of feet, the second collaborative foot, the first collaborative pair of feet, and the third collaborative pair of feet; when the third collaborative pair of feet steps, the second collaborative foot and the first collaborative pair of feet support and swing; when the third collaborative pair of feet completes the step, the second collaborative foot steps, and the first and third collaborative pairs of feet support and swing; when the second collaborative foot completes the step, the first collaborative pair of feet steps, and the third collaborative pair of feet and the second collaborative feet support and swing; when the first collaborative pair of feet completes the step, the third collaborative pair of feet steps again, and the robot moves backward in a cyclic sequence of steps.

[0011] Furthermore, walking feet A1, A2 and A3 are arranged on the left side of the fuselage, and walking feet B1 and B2 are arranged on the right side of the fuselage.

[0012] Furthermore, walking feet A1, A2 and A3 are arranged on the right side of the fuselage, and walking feet B1 and B2 are arranged on the left side of the fuselage.

[0013] Furthermore, the connection points of the five walking legs and the fuselage are symmetrical front and back at the middle leg.

[0014] Compared with the prior art, the advantages of the present invention are:

[0015] The present invention provides a walking method of a five-legged robot with a three-legged and four-legged mixed gait. Under the condition of application in a narrow space, the structure of a six-legged transport robot is simplified, one walking leg is reduced, the robot's spatial size is reduced, and the robot's passability is improved. Compared with a six-legged robot, its walking efficiency remains unchanged and the walking stability is roughly the same, thus solving the problem of a walking method of a five-legged robot that takes into account both walking efficiency and walking stability.

[0016] Through the present invention, a five-legged robot can achieve a mixed walking of a four-legged gait and a three-legged gait. Compared with a six-legged robot, its structure is simpler and its spatial passability is better. Compared with a two-legged or four-legged robot, it has better walking stability as a transport robot.

[0017] The coordinated anti-legs or anti-legs formation under the mixed conditions of quadrupedal gait and tripodal gait achieves good static stability of the five-legged robot. The five walking legs are arranged symmetrically in front and back, and the three groups of coordinated legs / anti-legs formation methods are symmetrical in front and back. The stability margin of each stride state of the five-legged robot changes little, which is conducive to the precise control of the robot's walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the walking foot arrangement of the five-legged robot;

[0019] Figure 2 This is a schematic diagram of the fuselage connection;

[0020] Figure 3 A simplified diagram of the forward step process;

[0021] Figure 4 This is a simplified diagram of the backward step process.

[0022] In the figure: 1-fuselage; 1.1-center of gravity and contour of center of gravity position; 1.2-connection points of five walking legs to the fuselage; 2-left rear leg; 3-left front leg; 4-right rear leg; 5-right front leg; 6-middle leg; 7-ground. DETAILED DESCRIPTION

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] A three-legged and four-legged mixed gait walking method for a five-legged robot, characterized in that: five walking legs are arranged on both sides of the robot body according to the walking direction of the robot, three walking legs are arranged on one side, marked as walking leg A1, walking leg A2, and walking leg A3 from front to back, and two walking legs are arranged on the other side, marked as walking leg B1 and walking leg B2 from front to back, and the walking legs on both sides are arranged at intervals;

[0025] The five walking legs are divided into three groups of coordinated movements, among which walking legs A3 and walking legs B1 are a group, marked as the first coordinated pair of legs; walking legs A2 are a group alone, marked as the second coordinated pair of legs; walking legs A1 and walking legs B2 are a group, marked as the third coordinated pair of legs;

[0026] The robot's forward stride sequence is the first coordinated pair of feet, the second coordinated pair of feet, and the third coordinated pair of feet in a cycle; the backward stride sequence is the third coordinated pair of feet, the second coordinated pair of feet, and the first coordinated pair of feet in a cycle.

[0027] like Figure 2 As shown: when the robot moves forward, it detects the landing positions of the first collaborative pair of feet, the second collaborative pair of feet, and the third collaborative pair of feet. The collaborative foot / pair of feet that is last in the walking direction steps first, and then moves in a cyclic sequence of the first collaborative pair of feet, the second collaborative foot, the third collaborative pair of feet, and the first collaborative pair of feet; when the first collaborative pair of feet steps, the second and third collaborative pairs of feet support and swing; when the first collaborative pair of feet completes the step, the second collaborative foot steps, and the first and third collaborative pairs of feet support and swing; when the second collaborative foot completes the step, the third collaborative pair of feet steps, and the first and second collaborative feet support and swing; when the third collaborative pair of feet completes the step, the first collaborative pair of feet steps again, and the walking is completed in this cyclic step.

[0028] like Figure 3 As shown: when the robot moves backward, the landing positions of the first collaborative pair of feet, the second collaborative pair of feet, and the third collaborative pair of feet are detected, and the collaborative foot / pair of feet that is located last in the walking direction steps first, and then the third collaborative pair of feet, the second collaborative foot, the first collaborative pair of feet, and the third collaborative pair of feet move in a cyclic sequence; when the third collaborative pair of feet steps, the second collaborative foot and the first collaborative pair of feet support and swing; when the third collaborative pair of feet completes the step, the second collaborative foot steps, and the first and third collaborative pairs of feet support and swing; when the second collaborative foot completes the step, the first collaborative pair of feet steps, and the third collaborative pair of feet and the second collaborative feet support and swing; when the first collaborative pair of feet completes the step, the third collaborative pair of feet steps again, and the robot moves backward in a cyclic sequence.

[0029] Example 1

[0030] like Figure 1 , Figure 2 As shown: the robot includes a body 1, a left rear foot 2, a left front foot 3, a right rear foot 4, a right front foot 5, and a middle foot 6.

[0031] The connection method of each component is as follows: the fuselage 1 is placed horizontally, and the five walking feet are arranged on both sides of the fuselage 1 according to the walking direction of the robot. Assuming the front and rear orientation of the robot, the left rear foot 2, the left front foot 4, the right rear foot 4, and the right front foot 5 are arranged at the four corners of the fuselage according to the orientation. In this example, the middle foot 6 is arranged on the left side of the fuselage; the left and right walking feet of the fuselage 1 are arranged at intervals, that is, the arrangement order of the five walking feet from back to front is left rear foot 2, right rear foot 4, middle foot 6, right front foot 5, and left front foot 3, and the five walking feet are symmetrical front and back at the middle foot 6.

[0032] The five walking feet are divided into three groups of coordinated movements, among which the left hind foot 2 and the right front foot 5 are a group, marked as the first coordinated pair of feet; the middle foot 6 is a separate group, marked as the second coordinated foot; the left front foot 3 and the right hind foot 4 are a group, marked as the third coordinated pair of feet.

[0033] Example 2

[0034] The robot comprises a body 1, a left rear foot 2, a left front foot 3, a right rear foot 4, a right front foot 5, and a middle foot 6.

[0035] The connection method of each component is as follows: the fuselage 1 is placed horizontally, and the five walking feet are arranged on both sides of the fuselage 1 according to the walking direction of the robot. Assuming the front and back orientation of the robot, the middle foot 6 is arranged on the right side of the fuselage in this embodiment, and the left and right walking feet of the fuselage 1 are arranged at intervals, that is, the arrangement order of the five walking feet from back to front is right rear foot 4, left rear foot 2, middle foot 6, left front foot 3, and right front foot 5, and the five walking feet are symmetrical front and back at the middle foot 6.

[0036] The walking feet are divided into three groups of coordinated actions, among which the right hind foot 4 and the left front foot 3 are a group, marked as the first coordinated pair of feet; the middle foot 6 is a separate group, marked as the second coordinated foot; the left hind foot 2 and the right front foot 5 are a group, marked as the third coordinated pair of feet.

[0037] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A walking method of a five-legged robot with three-legged and four-legged mixed gait, characterized in that: Five walking feet are arranged on both sides of the robot body according to the walking direction of the robot. Three walking feet are arranged on one side, marked as walking foot A1, walking foot A2, and walking foot A3 from front to back, and two walking feet are arranged on the other side, marked as walking foot B1 and walking foot B2 from front to back, and the walking feet on both sides are arranged at intervals. The five walking legs are divided into three groups of coordinated movements, among which walking legs A3 and walking legs B1 are a group, marked as the first coordinated pair of legs; walking legs A2 are a group alone, marked as the second coordinated pair of legs; walking legs A1 and walking legs B2 are a group, marked as the third coordinated pair of legs; The robot's forward step sequence is the first coordinated pair of feet, the second coordinated pair of feet, and the third coordinated pair of feet in a cycle; the backward step sequence is the third coordinated pair of feet, the second coordinated pair of feet, and the first coordinated pair of feet in a cycle; When the robot moves forward, it detects the landing positions of the first, second and third coordinated pairs of feet. The coordinated foot / pair of feet that is at the end of the walking direction steps first, and then moves in a cyclical sequence of the first coordinated pair of feet, the second coordinated pair of feet, the third coordinated pair of feet and the first coordinated pair of feet. When the first coordinated pair of feet steps, the second and third coordinated pairs of feet support and swing. When the first coordinated pair of feet completes the step, the second coordinated foot steps, and the first and third coordinated pairs of feet support and swing. When the second coordinated foot completes the step, the third coordinated foot steps, and the first and second coordinated feet support and swing. When the third coordinated pair of feet completes the step, the first coordinated pair of feet steps again, and the walking is completed by stepping in this cycle. When the robot moves backward, it detects the landing positions of the first, second and third coordinated pairs of feet. The coordinated foot / pair of feet that is last in the walking direction steps first, and then the robot moves in a cyclic sequence of the third coordinated pair of feet, the second coordinated foot, the first coordinated pair of feet and the third coordinated pair of feet. When the third coordinated pair of feet steps forward, the second and first coordinated pairs of feet support and swing. When the third coordinated pair of feet completes its step, the second coordinated foot steps forward, and the first and third coordinated pairs of feet support and swing. When the second coordinated foot completes its step, the first coordinated pair of feet steps forward, and the third and second coordinated feet support and swing. When the first coordinated pair of feet completes its step, the third coordinated pair of feet steps forward again, and the robot moves backward in a cyclic sequence.

2. A five-legged robot three-legged four-legged mixed gait walking method according to claim 1, characterized in that: Walking feet A1, A2 and A3 are arranged on the left side of the fuselage, and walking feet B1 and B2 are arranged on the right side of the fuselage.

3. The method for walking in a three-legged and four-legged mixed gait of a five-legged robot according to claim 1, characterized in that: Walking feet A1, A2 and A3 are arranged on the right side of the fuselage, and walking feet B1 and B2 are arranged on the left side of the fuselage.

4. The method for walking in a three-legged and four-legged mixed gait of a five-legged robot according to claim 1, characterized in that: The connection points of the five walking legs and the fuselage are symmetrical front and back at the middle leg.

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