A bionic quadruped robot based on pneumatic honeycomb muscle structure

Abstract

The application belongs to the technical field of bionic robots, and discloses a bionic quadruped robot based on a pneumatic honeycomb muscle structure and a control method. The bionic quadruped robot comprises a robot trunk assembled by a trunk plate, a connecting plate and a shoulder plate, four mechanical legs are respectively installed at two ends of the two shoulder plates, a thigh skeleton is installed on the shoulder plate through a thigh honeycomb muscle structure, the thigh skeleton is installed with the thigh honeycomb muscle structure through two double-degree-of-freedom connecting joints, and a shank honeycomb muscle structure is additionally installed between the thigh skeleton and the shank skeleton. The thigh honeycomb muscle structure and the shank honeycomb muscle structure are respectively supplied with action instructions issued by a gas pressure control system through a gas source supply system to provide power for the movement of the thigh skeleton and the shank skeleton, and precise control is realized on each inflation area, so as to complete complex operations such as walking, transverse movement, turning and obstacle avoidance. The bionic quadruped robot designed by the application has the advantages of low cost and smooth gait, and can realize large load under harsh conditions.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of bionic robots, and particularly relates to a bionic quadruped robot based on a pneumatic honeycomb muscle structure. BACKGROUND

[0002] With the continuous progress of science and the development of artificial intelligence technology, intelligent service robots, as a type of bionic robots, are the most active in related research, and the research on bionic joints derived therefrom is favored by scholars at home and abroad. At present, the driving modes of soft robots mainly include hydraulic or pneumatic driving, intelligent material driving, magnetorheological material driving, electroactive polymer driving, chemical reaction driving and living cell driving, among which the pneumatic soft robot has the advantages of light weight, high efficiency, no pollution, strong environmental adaptability, no need for ferromagnetic or electronic element driving, good flexibility, good reliability under harsh conditions such as strong radiation, electromagnetic interference, dust and external force crushing and the like, and is widely used in the design of soft robots.

[0003] Through the search of existing literatures, it is found that the patent literature with the Chinese patent application number CN201220005105.2 proposes a quadruped bionic robot that realizes walking through a servo air cylinder. It has the characteristics of flexible gait and stable movement, but has high cost, unsmooth gait and low carrying capacity; the patent literature with the Chinese patent application number CN201520038822.9 proposes a bionic quadruped robot driven by pneumatic muscles. It has the characteristics of low cost, sufficient power and smooth gait, but cannot detect the environment in real time, so that the robot cannot make accurate judgments and decisions for complex environments. SUMMARY

[0004] In view of the problems of low carrying capacity and inability to detect the environment in real time in the background art, the application proposes a bionic quadruped robot based on a pneumatic honeycomb muscle structure. By using the pneumatic honeycomb structure, the relative rotation of the "skeleton" and the "joint" caused by the muscle pulling is realized under the condition of two-end limitation and one-side inflation. The robot comprises a trunk plate, a shoulder plate, an image acquisition structure, a honeycomb muscle structure, a mechanical leg structure, a gas pressure supply device and a control module. The honeycomb muscle structure is made of soft variable material, and the other parts are made of rigid material. The pneumatic honeycomb structure used in the design scheme can realize the relative rotation of the "skeleton" and the "joint" caused by the muscle pulling under the condition of two-end limitation and one-side inflation, and based on this, the application proposes a bionic quadruped robot based on a pneumatic honeycomb muscle structure.

[0005] In order to achieve the above object, the application adopts the following technical scheme: a bionic quadruped robot based on a pneumatic honeycomb muscle structure drive, comprising a robot trunk, the robot trunk comprising a trunk plate and connecting plate members installed at both ends thereof, a shoulder plate is installed on each connecting plate member, four mechanical legs are respectively arranged at both ends of each shoulder plate, the four mechanical legs comprising thigh bones and shank bones connected through hinges, a thigh honeycomb muscle structure is installed on the upper end and middle part of the thigh bone through two double-degree-of-freedom connecting joints, and the thigh bone is installed on the shoulder plate through the thigh honeycomb muscle structure, the thigh honeycomb muscle structure provides power for the movement of the thigh bone according to thigh action instructions sent by a gas pressure control system through a gas source supply system, a first connecting block is fixedly connected to the thigh bone, a second connecting block is fixedly connected to the shank bone, a shank honeycomb muscle structure is installed between the first connecting block and the second connecting block through a connecting bolt, the shank honeycomb muscle structure provides power for the movement of the shank bone according to shank action instructions sent by the gas pressure control system, the gas source supply system and the gas pressure control system are both powered by a constant-voltage power supply, and all of them are carried on the trunk plate.

[0006] As a further supplementary explanation of the above technical scheme, the thigh honeycomb muscle structure comprises two first pressing plates, the two first pressing plates are connected through first elastic honeycomb cavities of two connected units between the two first pressing plates, two first gas bag blocks matched with the first elastic honeycomb cavities are embedded in the first elastic honeycomb cavities of each unit, a clamping groove connecting block is fixedly connected to the outer side of each first pressing plate, the two clamping groove connecting blocks are connected with the two double-degree-of-freedom connecting joints through buckling, and the clamping groove connecting block located at the top of the thigh bone is embedded in the end of the shoulder plate; the shank honeycomb muscle structure comprises two second pressing plates, the two second pressing plates are connected through second elastic honeycomb cavities of two connected units between the two second pressing plates, a single second gas bag block matched with the second elastic honeycomb cavities is embedded in the second elastic honeycomb cavities of each unit, a threaded hole connecting plate is fixedly connected to the outer side of each second pressing plate, and the two threaded hole connecting plates are connected with the first connecting block and the second connecting block through the connecting bolt.

[0007] As a further explanation and limitation of the above technical scheme, the double-degree-of-freedom connecting joint comprises a connecting clamping plate corresponding to the clamping groove connecting block, a rotating support is rotatably connected to the connecting clamping plate through a rotating shaft, and the rotating support is connected with the thigh bone through a connecting rotating shaft.

[0008] As a further explanation and limitation of the above technical solutions, the first air pocket block and the second air pocket block are the same in structure, and both include a plurality of honeycomb structure air bags, the plurality of air bags are connected in communication through a plurality of connecting hoses, and an air inlet is connected in communication on one of the air bags, and the air inlet is used to externally connect the air source supply system.

[0009] As a further explanation and limitation of the above technical solutions, the air source supply system includes an air compressor, a pressure reducing valve and a proportional valve, the outlet of the air compressor is connected in communication with the air inlet of the pressure reducing valve through an air pipe line, the air outlet of the pressure reducing valve is connected with the air inlet on each air bag through twenty-four air supply pipe lines, and a proportional valve is arranged on each air supply pipe line; the air pressure control system includes an upper computer, a data acquisition card, twenty-four air pressure sensors and a film pressure sensor, the plurality of air pressure sensors are respectively connected in each air supply pipe line, the film pressure sensor is respectively inserted between each first air pocket block and first elastic honeycomb cavity and between each second air pocket block and second elastic honeycomb cavity, a camera is installed on the trunk plate through a card seat, the camera, the twenty-four air pressure sensors and the film pressure sensor respectively transmit the collected real-time image information, the air pressure signals and the pressure signals of each detection point to the upper computer through the data acquisition card, the upper computer controls the input air pressure size, the inflation and deflation time length and the interval of each region proportional valve by processing the signals output from the data acquisition card and processing the camera collected image, so that the thigh honeycomb muscle structure and the calf honeycomb muscle structure in each mechanical leg are regularly expanded or contracted to make the thigh skeleton and the calf skeleton respectively bend at a certain angle, so as to control the cooperation of the gait motion between the four mechanical legs, realize the straight line forward movement, the backward movement and the obstacle avoidance walking of the quadruped robot.

[0010] The four mechanical legs are divided into left front, right front, left rear and right rear parts, each thigh honeycomb muscle structure is divided into a first inflation region, a second inflation region, a third inflation region and a fourth inflation region according to the distribution of the air bags, and the calf honeycomb muscle structure is divided into a fifth inflation region and a sixth inflation region according to the distribution of the air bags.

[0011] Compared with the prior art, the present application has the following advantages:

[0012] 1. The thigh honeycomb muscle structure and the calf honeycomb muscle structure of the four mechanical legs in the present application are driven by air pocket block inflation and deflation cooperation. Therefore, the overall cost is low, the gait is flexible, and the stability is good.

[0013] 2. The robot trunk of the present application is simply assembled by a trunk plate, a connecting plate and a shoulder plate, the robot structure is simple, and a large load can be realized, so the adaptability is very strong.

[0014] 3、The application acquires environmental information through the camera carried by the robot, determines the next action through the image discrimination of the host computer, outputs to the host computer through the data acquisition board, combines the environmental information, and the computer determines the voltage type corresponding to the required air pressure value of the next action, and outputs to the electrical proportional valve through the data acquisition output board, so as to control the air pressure size, time length and sequence input into each inflation area, thereby controlling the movement of the quadruped soft robot, so that the movement of the robot can be controlled in real time.

[0015] 4、The bionic quadruped robot designed in the application has the advantages of light weight, high efficiency, no pollution, strong environmental adaptability, no need of ferromagnetic or electronic element driving, good flexibility, good reliability under harsh conditions such as strong radiation, electromagnetic interference, dust and external force crushing and heavy hitting, etc. Therefore, it has good reliability under harsh conditions. BRIEF DESCRIPTION OF DRAWINGS

[0016] Fig. 1 It is a structure diagram of the bionic quadruped robot in the application;

[0017] Fig. 2 It is an exploded view of the bionic quadruped robot in the application;

[0018] Fig. 3 It is a structure diagram of the mechanical leg in the application;

[0019] Fig. 4 It is a structure diagram of the thigh honeycomb muscle structure in the application;

[0020] Fig. 5 It is a structure diagram of the calf honeycomb muscle structure in the application;

[0021] Fig. 6 It is a structure diagram of the inflatable bag in the application;

[0022] Fig. 7 It is a structure diagram of the double-degree-of-freedom connecting joint in the application;

[0023] Fig. 8 It is a schematic diagram of the mechanical leg inflation area division and rotation direction in the application;

[0024] Fig. 9 It is a foot end trajectory diagram of the mechanical leg in the application;

[0025] Fig. 10 It is a principle control block diagram of the robot in the application.

[0026] In the figure: the robot trunk is 1, the mechanical leg is 2, the camera is 3, the card seat is 4, the two-degree-of-freedom connecting joint is 5, the thigh honeycomb muscle structure is 6, the connecting bolt is 7, the calf honeycomb muscle structure is 8, the inflatable bag is 9, the inflation port is 10, the connecting hose is 11, the air source supply system is 12, the constant voltage power supply is 13, and the air pressure control system is 14.

[0027] According to the distribution of the inflatable bag in the thigh honeycomb muscle structure and the calf honeycomb muscle structure: the first inflatable area is 100, the second inflatable area is 200, the third inflatable area is 300, and the fourth inflatable area is 400.

[0028] The robot trunk comprises a trunk plate 101, a connecting plate 102, and a shoulder plate 103.

[0029] The four mechanical legs comprise a thigh bone 201, a calf bone 202, a first connecting block 203, and a second connecting block 204.

[0030] The thigh honeycomb muscle structure comprises a first pressing plate 601, a first elastic honeycomb cavity 602, a first air bag block 603, and a clamping groove connecting block 604.

[0031] The calf honeycomb muscle structure comprises a second pressing plate 801, a second elastic honeycomb cavity 802, a second air bag block 803, and a threaded hole connecting plate 804.

[0032] The two-degree-of-freedom connecting joint 5 comprises a rotating support 501, a rotating shaft 502, and a connecting clamping plate 503.

[0033] The air source supply system comprises an air compressor 1201, a pressure reducing valve 1202, and a proportional valve 1203.

[0034] The air pressure control system comprises a host computer 1401, a data acquisition card 1402, twenty-four air pressure sensors 1403, and a thin film pressure sensor 1404. DETAILED DESCRIPTION

[0035] In order to further illustrate the technical solutions of the present application, the following will combine the drawings of the present application with the specific embodiments of the present application. Figs. 1 to 10 The present application will be further described through the optimal embodiments.

[0036] As shown in the drawings of the present application, Figs. 1 to 3As shown, a kind of bionic quadruped robot based on pneumatic honeycomb muscle structure driving includes robot trunk 1, the robot trunk 1 includes trunk plate 101, and the connecting plate piece 102 being installed at its both ends, camera 3 is installed on the trunk plate 101 by clamping seat 4, shoulder plate 103 is installed on each connecting plate piece 102, four mechanical legs 2 are respectively arranged in two ends of each shoulder plate 103, the four mechanical legs 2 include articulatedly connected femur skeleton 201 and shank skeleton 202, thigh honeycomb muscle structure 6 is installed on the upper end and middle part of femur skeleton 201 respectively by two double-degree-of-freedom connecting joints 5, and femur skeleton 201 is installed on shoulder plate 103 by the thigh honeycomb muscle structure 6, the thigh honeycomb muscle structure 6 provides power for the activity of femur skeleton 201 by sending thigh action instruction of air pressure control system 14 by air source supply system 12 execution, first connecting block 203 is fixedly connected on femur skeleton 201, second connecting block 204 is fixedly connected on shank skeleton 202, shank honeycomb muscle structure 8 is installed between first connecting block 203 and second connecting block 204 by connecting bolt 7, the shank honeycomb muscle structure 8 provides power for the activity of shank skeleton 202 by sending shank action instruction of air pressure control system 14 by air source supply system 12 execution, air source supply system 12 and air pressure control system 14 are all powered by constant voltage power supply 13, and the three are all carried on trunk plate 101.

[0037] As a preferred mode of the above embodiment, as shown in the accompanying drawings Figs. 4 to 6As shown, the thigh honeycomb muscle structure 6 comprises two first pressing plates 601, and the first elastic honeycomb cavities 602 of two connected units are connected between the two first pressing plates 601, two first air bag blocks 603 matched with the first elastic honeycomb cavities 602 are embedded in each unit, the clamping groove connecting blocks 604 are fixedly connected to the outer side of each first pressing plate 601, the two clamping groove connecting blocks 604 are respectively connected with the two double-degree-of-freedom connecting joints 5 by buckling connection, and the clamping groove connecting block 604 located at the top of the thigh bone 201 is embedded on the end of the shoulder plate 103; the calf honeycomb muscle structure 8 comprises two second pressing plates 801, and the second elastic honeycomb cavities 802 of two connected units are connected between the two second pressing plates 801, a single second air bag block 803 matched with the second elastic honeycomb cavities 802 is embedded in each unit, the threaded hole connecting plates 804 are fixedly connected to the outer side of each second pressing plate 801, and the two threaded hole connecting plates 804 are respectively connected with the first connecting block 203 and the second connecting block 204 through the connecting bolts 7. In the embodiment, the first air bag block 603 and the second air bag block 803 are the same in structure, and both comprise a plurality of inflatable bags 9 in a honeycomb structure, the plurality of inflatable bags 9 are connected in communication through a plurality of connecting hoses 11, the inflatable bags 9 are connected in communication with the air inlet 10, and the air inlet 10 is used for external connection of the air source supply system 12.

[0038] As shown in the accompanying drawings, Fig. 10As shown in the above embodiment, the air source supply system 12 includes an air compressor 1201, a pressure reducing valve 1202, and a proportional valve 1203. The outlet of the air compressor 1201 is connected to the air inlet of the pressure reducing valve 1202 through an air pipe line. The air outlet of the pressure reducing valve 1202 is connected to the air inlet of each air bag 9 through a twenty-four-way air supply pipe line. The proportional valve 1203 is arranged on each air supply pipe line.

[0039] As a preferred embodiment of the present embodiment, as shown in the accompanying drawings Fig. 7 As shown, the double-degree-of-freedom connecting joint 5 includes a connecting clamping plate 503 corresponding to the clamping groove connecting block 604. The rotating support 501 is rotatably connected to the connecting clamping plate 503 through a rotating shaft 502. The rotating support 501 is connected to the thigh bone 201 through a connecting rotating shaft 504.

[0040] The four mechanical legs 2 are divided into left front, right front, left rear, and right rear parts. Each thigh honeycomb muscle structure 6 is divided into a first inflation area 100, a second inflation area 200, a third inflation area 300, and a fourth inflation area 400 according to the distribution of the air bags 9. The calf honeycomb muscle structure 8 is divided into a fifth inflation area 500 and a sixth inflation area 600 according to the distribution of the air bags 9.

[0041] The working principle is as follows: Fig. 9The foot end trajectory of each mechanical leg is divided into four segments, wherein the ab, bc and cd segments are straight line segments, and the ad segment is an arc segment. For example, when the robot needs to move forward, the foot end trajectory of a single leg is (a→b, b→c, c→d, d→a), that is, a single leg can be divided into four segments according to the above steps in one step; in order to ensure the stability of the center of gravity of the robot, it is necessary to ensure that three mechanical legs are in contact with the ground at each moment of movement to ensure stable support, so when each leg of the robot moves according to the trajectory as above during walking, it is necessary to design a time phase difference in movement; observing the step sequence of designing four legs of various quadruped animals is: left front leg→right rear leg→right front leg→left rear leg, and the starting positions of each foot end are respectively located at points a, b, c and d, so the leg movement sequence of each stage is shown in the following table:

[0042]

[0043] According to the above design of the bionic quadruped robot specification, each mechanical leg has 6 inflatable areas, and four legs need 24 inflatable areas, and each inflatable area needs a proportional valve to control the air supply, so 24 proportional valves are needed.

[0044] Air pressure passage: The air pressure is provided by an air compressor, high-pressure air enters a pressure reducing valve through a special pipeline, the pressure reducing valve adjusts the required air pressure range, and then 24 air guide pipes are respectively connected to the air inlet ends of the 24 proportional valves. The upper computer calculates the corresponding bone rotation angle of the robot during walking, and calculates the air pressure value required to reach the expected angle in cooperation with the test data, and converts the required air pressure value into an electrical signal to control the output air pressure of the proportional valve.

[0045] Control signal passage: wherein the constant voltage power supply ensures the stable work of the data acquisition card and the proportional valve, the data acquisition card is responsible for collecting real-time air pressure signals, and the air bag film and the cavity surface of the honeycomb muscle structure are collected by the film pressure sensor. Among them, a gas path branch is led out in the air inlet path of each inflatable bag, and a gas pressure sensor is connected; a film pressure sensor is inserted in the contact gap between each air bag and the honeycomb muscle structure, and the installation position of the leg honeycomb muscle structure is similar, and since the air pressure in the air bag is the same, the pressure generated by the inflatable bag on the cavity wall of the honeycomb muscle structure is equal at each cavity, so one film pressure sensor is inserted in each inflatable area.

[0046] Meanwhile, the camera collects environmental information, and the host computer discriminates the image to determine the next action. The data acquisition card outputs to the host computer, combines the environmental information, and the computer determines the voltage model corresponding to the required air pressure value of the next action. The data acquisition output board card outputs to the proportional valve, which can control the air pressure output of each proportional valve, thereby controlling the air pressure, time length and sequence in each inflation area, thereby controlling the movement of the quadruped soft robot.

[0047] The above shows and describes the main features and advantages of the present application, and it is obvious for those skilled in the art that the specific embodiments of the present application are not limited to the details of the above exemplary embodiments, and the inventive idea and design idea of the present application can be realized in other specific forms without departing from the spirit or essential characteristics of the present application, and should be equivalent to the protection scope disclosed in the technical solutions of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application.

[0048] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be properly combined to form other embodiments that those skilled in the art can understand.

Claims

1. A bionic quadruped robot based on pneumatic honeycomb muscle structure driving, comprising a robot trunk (1), characterized in that: The robot trunk (1) comprises a trunk plate (101), and connecting plate members (102) installed at both ends thereof, shoulder plates (103) are installed on each connecting plate member (102), four mechanical legs (2) are arranged at both ends of each shoulder plate (103) respectively, the four mechanical legs (2) comprise thigh bones (201) and shank bones (202) connected through hinges, thigh honeycomb muscle structures (6) are installed on the upper end and the middle part of the thigh bones (201) through two double-degree-of-freedom connecting joints (5) respectively, the thigh bones (201) are installed on the shoulder plates (103) through the thigh honeycomb muscle structures (6), the thigh honeycomb muscle structures (6) provide power for the movement of the thigh bones (201) through thigh action instructions sent by a gas source supply system (12) executing an air pressure control system (14), first connecting blocks (203) are fixedly connected on the thigh bones (201), second connecting blocks (204) are fixedly connected on the shank bones (202), shank honeycomb muscle structures (8) are installed between the first connecting blocks (203) and the second connecting blocks (204) through connecting bolts (7), the shank honeycomb muscle structures (8) provide power for the movement of the shank bones (202) through shank action instructions sent by the gas source supply system (12) executing the air pressure control system (14), the gas source supply system (12) and the air pressure control system (14) are powered by a constant-voltage power supply (13), and the three are carried on the trunk plate (101). The thigh honeycomb muscle structure (6) comprises two first pressing plates (601), and the first elastic honeycomb cavities (602) of two connected units are connected between the two first pressing plates (601), two first air bag blocks (603) matched with the first elastic honeycomb cavities (602) of each unit are embedded in the first elastic honeycomb cavities (602) of each unit, the clamping groove connecting blocks (604) are fixedly connected to the outer sides of each first pressing plate (601), the two clamping groove connecting blocks (604) are connected with the two double-degree-of-freedom connecting joints (5) through buckling connection, and the clamping groove connecting blocks (604) located at the top of the thigh bones (201) are embedded on the end of the shoulder plate (103); the calf honeycomb muscle structure (8) comprises two second pressing plates (801), and the second elastic honeycomb cavities (802) of two connected units are connected between the two second pressing plates (801), a single second air bag block (803) matched with the second elastic honeycomb cavities (802) is embedded in the second elastic honeycomb cavities (802) of each unit, the threaded hole connecting plates (804) are fixedly connected to the outer sides of each second pressing plate (801), the two threaded hole connecting plates (804) are connected with the first connecting block (203) and the second connecting block (204) through the connecting bolts (7), the structures of the first air bag blocks (603) and the second air bag blocks (803) are same, and both of them comprise a plurality of inflatable bags (9) with honeycomb structures, the plurality of inflatable bags (9) are connected in communication through a plurality of connecting hoses (11), the inflatable bags (9) are connected in communication with the air inlet (10), and the air inlet (10) is used for being connected with the air source supply system (12); The double-degree-of-freedom connecting joint (5) comprises the connecting clamping plates (503) corresponding to the clamping groove connecting blocks (604), the rotating supports (501) are rotatably connected to the connecting clamping plates (503) through rotating shafts (502), and the rotating supports (501) are connected with the thigh bones (201) through connecting rotating shafts (504); The four mechanical legs (2) are divided into left front, right front, left rear and right rear parts, each thigh honeycomb muscle structure (6) is divided into a first inflatable area (100), a second inflatable area (200), a third inflatable area (300) and a fourth inflatable area (400) according to the distribution of the inflatable bags (9), and the calf honeycomb muscle structure (8) is divided into a fifth inflatable area (500) and a sixth inflatable area (600) according to the distribution of the inflatable bags (9).

2. The bionic quadruped robot based on pneumatic honeycomb muscle structure driving according to claim 1, characterized in that: The air source supply system (12) comprises an air compressor (1201), a pressure reducing valve (1202) and a proportional valve (1203), the outlet of the air compressor (1201) is connected with the air inlet of the pressure reducing valve (1202) through an air pipe line, the air outlet of the pressure reducing valve (1202) is connected with the air inlet (10) of each air bag (9) through a twenty-four-way air supply pipe line, and the proportional valve (1203) is arranged on each air supply pipe line; the air pressure control system (14) comprises a host computer (1401), a data acquisition card (1402), twenty-four air pressure sensors (1403) and a film pressure sensor (1404), the air pressure sensors (1403) are respectively connected to each air supply pipe line, the film pressure sensor (1404) is respectively arranged between each first air bag block (603) and first elastic honeycomb cavity (602) and between each second air bag block (803) and second elastic honeycomb cavity (802), the camera (3) is arranged on the torso plate (101) through the card seat (4), the camera (3), the twenty-four air pressure sensors (1403) and the film pressure sensor (1404) respectively transmit the collected real-time image information, the air pressure signals and the pressure signals of each detection point to the host computer (1401) through the data acquisition card (1402), the host computer (1401) controls the input air pressure size, the inflation and deflation time length and the interval of each area proportional valve (1203) by processing the signals output from the data acquisition card (1402) and processing the image of the camera (3), so that the thigh honeycomb muscle structure (6) and the calf honeycomb muscle structure (8) in each mechanical leg (2) are regularly expanded or contracted, the thigh bone (201) and the calf bone (202) are respectively bent at a certain angle, the cooperation of the gait movement between the four mechanical legs (2) is achieved, and the straight line advancing, retreating and obstacle avoidance walking of the quadruped robot are realized.

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