Bionic fermented soybean beetle robot capable of rapidly rotating and swimming on water and working method of bionic fermented soybean beetle robot

Abstract

The invention provides a bionic fermented soybean beetle robot capable of rapidly rotating and swimming on water and a working method thereof, a robot main body comprises a control module, and further comprises a fermented soybean beetle head assembly, a fermented soybean beetle belly assembly with a pair of middle foot propelling mechanisms and a fermented soybean beetle tail assembly with a pair of rear foot propelling mechanisms which are sequentially arranged from front to back, the middle foot propelling mechanism and the rear foot propelling mechanism respectively form a middle foot part and a rear foot part of the robot and respectively comprise a crank rocker mechanism driven by a stepping motor, and the crank rocker mechanism is used for converting rotary motion of the stepping motor into reciprocating swing of the foot part; the control module adjusts the swing strength of the feet by setting the amplitude of each crank rocker mechanism so as to execute the linear motion of the robot, and drives water to form a vortex by changing the coupling motion parameters of the middle foot and the rear foot during the tiny water stirring action so as to drive the robot main body to rotate; the carrier platform is high in maneuverability and can rapidly swim on the water in a rotating mode.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a bionic beetle robot capable of rapidly spinning and swimming on water and a working method thereof. Background Art

[0002] With the development of science and technology, the design and function of water vehicles are constantly improving, especially in the fields of military reconnaissance, water rescue, underwater archaeology, etc., the demand for water robots with high maneuverability and stability is growing. However, existing water vehicles often have problems such as insufficient maneuverability, poor stability, and high energy consumption, which limit their application in complex water environments.

[0003] In nature, the beetle is an insect that can perform rapid gyrations on the water surface. Its unique gyration mechanism provides new ideas for the design of water vehicles. The beetle uses its special leg structure and weight distribution to generate vortices on the water surface and achieve efficient gyration. The efficiency and adaptability of this biological mechanism provide inspiration for the development of new water vehicles.

[0004] Bionics is a science that studies the structure and function of organisms. Its application in the design of water vehicles aims to improve the performance of mechanical systems by imitating the characteristics of natural organisms. Although some studies have tried to apply the principles of bionics to the design of water robots, how to accurately simulate the whirling mechanism of the dragon beetle and achieve rapid whirling swimming in water is still a technical challenge. Summary of the invention

[0005] The invention provides a bionic beagle robot capable of rapid spinning and swimming on water and a working method thereof, thereby realizing a carrier platform with strong maneuverability and capable of rapid spinning and swimming on water.

[0006] The present invention adopts the following technical solutions.

[0007] A bionic dragon-shell robot capable of rapid gyratory swimming on water, the robot body comprising a control module, and also comprising a dragon-shell head assembly, a dragon-shell abdomen assembly with a pair of middle-foot propulsion mechanisms, and a dragon-shell tail assembly with a pair of rear-foot propulsion mechanisms, which are arranged in a front-to-back order. The middle-foot propulsion mechanisms and rear-foot propulsion mechanisms respectively form the middle and rear feet of the robot, and both comprise a crank-rocker mechanism driven by a stepping motor, which converts the rotational motion of the stepping motor into reciprocating swinging of the foot. The control module adjusts the swinging force of the foot by setting the amplitude of each crank-rocker mechanism to execute the linear motion of the robot, and drives the water to form a vortex by changing the coupled motion parameters of the middle and rear feet during a small water stirring action, thereby driving the robot body to rotate.

[0008] The robot has a streamlined appearance similar to that of a biological beetle.

[0009] The beetle head assembly comprises a rigid beetle head shell and a beetle head camera fixing frame arranged inside the rigid beetle head shell, and a camera is arranged at the beetle head camera fixing frame.

[0010] A fish-eye structure is provided at the left and right sides of the upper end of the surface of the head of the black crab and the area adjacent to the camera. The fish-eye structure is provided with an observation hole for the camera to collect underwater images, and the observation hole is sealed with hot melt adhesive.

[0011] The abdominal component of the beetle includes an abdominal shell of the beetle, and also includes a power supply device, a microprocessor, a printed circuit board, four stepper motors, an IMU (Inertial Motion Unit) and a wireless communication device arranged in the abdominal shell of the beetle; the power supply device includes a lithium battery and a wireless charging coil, which are used to power the electronic devices in the robot. When selecting the communication working frequency of the wireless communication device, avoid the frequency band in which the water medium absorbs the strongest electromagnetic waves to facilitate the transmission of signals over longer distances; The IMU is used to provide real-time motion and posture feedback to the robot to improve the accuracy and stability of the robot's action execution.

[0012] The microprocessor adopts STM32F103VET6, and the wireless communication device includes a wireless serial port module with an operating frequency of 433 MHz.

[0013] The shells of the head component, the abdomen component and the tail component are pressure-resistant and waterproof shells made of polylactide. The three parts of the shells are connected and fastened by bolt fasteners, and O-type silicone rubber sealing rings are arranged at the connection points and waterproof silicone grease is applied to form a static sealing and waterproof structure of the robot body.

[0014] The propulsion mechanism at the middle foot and rear foot of the robot includes a stepper motor, a stepper motor mounting bracket and a foot joint; the stepper motor is connected to a driving rod outside the foot joint; The foot joint body is a crank rocker mechanism, including a driving rod, a leg joint, a tibia, a connecting rod, a fixed rod and a rocker connected to the above-mentioned stepper motor; one end of the fixed rod is connected to the shell screw of the abdominal assembly of the black carapace, one end of the connecting rod is hinged to the driving rod, both ends of the rocker are respectively hinged to one end of the fixed rod and the middle part of the tibia, the middle part of the rocker is hinged to the other end of the connecting rod, the end of the tibia is hinged to one end of the leg joint, and the other end of the leg is hinged to the other end of the fixed rod.

[0015] The working method of a bionic dragon beetle robot that can quickly rotate in water is used for the robot described above, and is characterized in that: in the working method, the control module forms a CPG (Central Pattern Generator) network through four oscillator units, which is used to control the four-degree-of-freedom drive of the robot during linear motion and rotary motion, and uses the mechanical characteristics of the crank rocker mechanism to drive the dragon beetle's feet to swing, and the robot's linear motion mode and rotary motion mode are achieved by adjusting the control parameters of the CPG network.

[0016] The microprocessor built into the control module controls the rotational torque of the four stepper motors by controlling the frequency and width of the PWM (Pulse width modulation) signal; The working method of the bionic beetle robot in the linear motion mode is as follows: the rear foot provides the robot with a forward or backward thrust by swinging, which determines whether the robot moves forward or backward; further, while the rear foot provides thrust, the propulsion mechanism of the mid-foot maintains the same motion posture and swings back and forth quickly, thereby increasing the moving speed and realizing the rapid advancement of the robot; The working method of the bionic beetle robot in the cyclotron motion mode is: the hind foot and the midfoot provide propulsion and steering control to each other, and different steering amplitudes are adjusted by adjusting the control parameters of the midfoot and the hind foot. The specific adjustment method is: Adjustment method A: The rear foot remains stationary, and the robot's mid-foot swings back and forth to generate propulsion. When the swing amplitude of the left / right mid-foot is greater than the swing amplitude of the right / left mid-foot, a left / right turn is achieved; further, if the mid-foot continues to swing, and the swing amplitude of the left / right side is greater than that of the right / left side, a small-amplitude cyclotron motion is achieved; Adjustment method B: While the rear foot swings to provide forward thrust to the robot, the robot's middle foot swings back and forth to generate propulsion. When the swing amplitude of the left / right middle foot is greater than the swing amplitude of the right / left middle foot, a large left / right turn is achieved. Furthermore, if the middle foot continues to swing and the left / right side swing amplitude is greater than the right / left side, a large-scale rotation motion is achieved. Furthermore, increasing the swing frequency of the middle foot improves the steering sensitivity.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The design of the present invention is modeled after the structure of the beagle in nature, and the streamlined shell design reduces water resistance and improves movement efficiency.

[0018] 2. The present invention uses multiple sensors in the bionic clam robot by reasonably distributing the weight. When an abnormality occurs during the swimming process of the robot, the information feedback from the sensors can be used to coordinate the movement patterns of the mid-foot and the hind-foot, so that the robot remains stable during the swimming process.

[0019] 3. The present invention can realize the coupled coordinated movement of the mid-foot and hind-foot of the bionic dragon-shell robot, and realize different turning radii and rotation speeds during swimming through the coupled coordinated movement control of the mid-foot and hind-foot, thereby realizing rapid obstacle avoidance and effectively enhancing the propulsion ability and maneuverability of the bionic dragon-shell robot.

[0020] 4. In the present invention, a stepper motor is selected as the motor to provide a larger driving torque to the midfoot and the rear foot, and the mechanical characteristics of the crank rocker mechanism are utilized to further convert the rotational motion of the motor-driven rocker into the reciprocating swing of the midfoot and the rear foot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments: Attached Figure 1 The structure of the embodiment of the present invention is shown in FIG. Figure 1 ; Attached Figure 2 The structure of the embodiment of the present invention is shown in FIG. Figure 2 ; Attached Figure 3 It is a schematic diagram of the internal structure of an embodiment of the present invention; Attached Figure 4 This is a schematic diagram of the structure of the foot component of the black turtle according to an embodiment of the present invention; Attached Figure 5 This is a schematic diagram of the network architecture of the Chijia CPG according to an embodiment of the present invention; Attached Figure 6 A schematic diagram of the spiral gyration motion trajectory of an embodiment of the present invention; Attached Figure 7 A simplified schematic diagram of the foot mechanism movement according to the present invention; In the figure: 1. Abdominal component of the beetle; 2. Head component of the beetle; 3. Hind foot; 4. Tail component of the beetle; 5. Lithium battery; 6. Camera; 7. Printed circuit board; 8. IMU; 9. Microprocessor; 10. Stepper motor; 11. Wireless charging coil; 12. Wireless serial port module; 13. Tibia; 14. Leg; 15. Drive rod; 16. Connecting rod; 17. Fixed rod; 18. Joystick; 31- Mid-foot. DETAILED DESCRIPTION

[0022] As shown in the figure, a bionic dragon shell robot that can rapidly rotate in water, the robot body includes a control module, and also includes a dragon shell head component 2, a dragon shell abdomen component 1 with a pair of middle foot propulsion mechanisms, and a dragon shell tail component 4 with a pair of rear foot propulsion mechanisms arranged in a front-to-back order, the middle foot propulsion mechanisms and the rear foot propulsion mechanisms respectively form the robot's middle foot 31 and rear foot 3, and both include a crank rocker mechanism driven by a stepper motor 10, and the crank rocker mechanism converts the rotational motion of the stepper motor into reciprocating swinging of the foot; the control module adjusts the swinging force of the foot by setting the amplitude of each crank rocker mechanism to execute the robot's linear motion, and drives the water to form a vortex to drive the robot body to rotate by changing the coupling motion parameters of the middle foot and the rear foot during a small water stirring action.

[0023] The robot has a streamlined appearance similar to that of a biological beetle.

[0024] The beetle head assembly includes a rigid beetle head shell and a beetle head camera fixing frame arranged inside the rigid beetle head shell, and a camera 6 is arranged at the beetle head camera fixing frame.

[0025] A fish-eye structure is provided at the left and right sides of the upper end of the surface of the head of the black crab and the area adjacent to the camera. The fish-eye structure is provided with an observation hole for the camera to collect underwater images, and the observation hole is sealed with hot melt adhesive.

[0026] The abdominal component of the beetle includes an abdominal shell of the beetle, and also includes a power supply device, a microprocessor 9, a printed circuit board 7, four stepper motors, an IMU 8 (Inertial Motion Unit) and a wireless communication device arranged in the abdominal shell of the beetle; the power supply device includes a lithium battery 5 and a wireless charging coil 11, which are used to power the electronic devices in the robot. When selecting the communication working frequency of the wireless communication device, avoid the frequency band in which the water medium absorbs the strongest electromagnetic waves to facilitate the transmission of signals over longer distances; The IMU is used to provide real-time motion and posture feedback to the robot to improve the accuracy and stability of the robot's action execution.

[0027] The microprocessor is STM32F103VET6, and the wireless communication device includes a wireless serial port module 12 with an operating frequency of 433 MHz.

[0028] The shells of the head component, the abdomen component and the tail component are pressure-resistant and waterproof shells made of polylactide. The three parts of the shells are connected and fastened by bolt fasteners, and O-type silicone rubber sealing rings are arranged at the connection points and waterproof silicone grease is applied to form a static sealing and waterproof structure of the robot body.

[0029] The propulsion mechanism at the middle foot and rear foot of the robot includes a stepper motor, a stepper motor mounting bracket and a foot joint; the stepper motor is connected to a driving rod outside the foot joint; The foot joint body is a crank rocker mechanism, including a driving rod 15 connected to the above-mentioned stepping motor, a leg segment 14, a tibia 13, a connecting rod 16, a fixed rod 17 and a rocker 18; one end of the fixed rod is connected to the shell screw of the abdominal component of the beetle, one end of the connecting rod is hinged to the driving rod, both ends of the rocker are respectively hinged to one end of the fixed rod and the middle part of the tibia, the middle part of the rocker is hinged to the other end of the connecting rod, the end of the tibia is hinged to one end of the leg segment, and the other end of the leg is hinged to the other end of the fixed rod.

[0030] The working method of a bionic dragon beetle robot that can quickly rotate in water is used for the robot described above, and is characterized in that: in the working method, the control module forms a CPG (Central Pattern Generator) network through four oscillator units, which is used to control the four-degree-of-freedom drive of the robot during linear motion and rotary motion, and uses the mechanical characteristics of the crank rocker mechanism to drive the dragon beetle's feet to swing, and the robot's linear motion mode and rotary motion mode are achieved by adjusting the control parameters of the CPG network.

[0031] The microprocessor built into the control module controls the rotational torque of the four stepper motors by controlling the frequency and width of the PWM (Pulse width modulation) signal; The working method of the bionic beetle robot in the linear motion mode is as follows: the rear foot provides the robot with a forward or backward thrust by swinging, which determines whether the robot moves forward or backward; further, while the rear foot provides thrust, the propulsion mechanism of the mid-foot maintains the same motion posture and swings back and forth quickly, thereby increasing the moving speed and realizing the rapid advancement of the robot; The working method of the bionic beetle robot in the cyclotron motion mode is: the hind foot and the midfoot provide propulsion and steering control to each other, and different steering amplitudes are adjusted by adjusting the control parameters of the midfoot and the hind foot. The specific adjustment method is: Adjustment method A: The rear foot remains stationary, and the robot's mid-foot swings back and forth to generate propulsion. When the swing amplitude of the left / right mid-foot is greater than the swing amplitude of the right / left mid-foot, a left / right turn is achieved; further, if the mid-foot continues to swing, and the swing amplitude of the left / right side is greater than that of the right / left side, a small-amplitude cyclotron motion is achieved; Adjustment method B: While the rear foot swings to provide forward thrust to the robot, the robot's middle foot swings back and forth to generate propulsion. When the swing amplitude of the left / right middle foot is greater than the swing amplitude of the right / left middle foot, a large left / right turn is achieved. Furthermore, if the middle foot continues to swing and the left / right side swing amplitude is greater than the right / left side, a large-scale rotation motion is achieved. Furthermore, increasing the swing frequency of the middle foot improves the steering sensitivity.

[0032] In this example, in order to improve propulsion efficiency and movement flexibility, fins can be installed at the end of the midfoot and rear foot to enhance paddling power.

[0033] Example: Based on the above implementation mode, this example provides a bionic robot with coupled movement of the mid-foot and hind-foot. The coordinated movement of the mid-foot and hind-foot is controlled by a control algorithm to achieve active adjustment of steering and posture under different swimming conditions, realize high maneuverability of the robot in pivotal swimming, have the characteristics of stable propulsion and flexible steering, can meet a variety of water and underwater operation needs, and has broad application prospects.

[0034] The main body of the bionic dragon beetle robot is divided into three parts, namely the dragon beetle head, abdomen and tail. The three parts are connected and fastened together by bolts. An O-ring is set at the connecting part and waterproof silicone is applied to achieve static sealing and waterproofing of the robot body.

[0035] like Figure 1 As shown, there is a fisheye-like structure on each side of the upper end of the head surface of the black crab, which can be used to install a binocular camera in the future to realize underwater target detection and recognition, and further realize the obstacle avoidance function.

[0036] like Figure 3 As shown in the figure, the bionic scorpion robot is equipped with a lithium battery, which is fixed on the upper abdomen of the robot to make it waterproof; the cabin is equipped with a printed circuit board, IMU, wireless charging coil, wireless serial port, wireless debugger, etc., so as to ensure that the bionic scorpion robot can operate autonomously and reliably with real-time data interaction underwater. The IMU is installed on the mounting plate at the front end of the scorpion's tail to obtain and calculate the real-time posture and acceleration changes of the robot during swimming; when the IMU detects that the robot deviates from the normal trajectory during swimming, it coordinates the swing of the mid-foot and the hind foot through feedback to make the robot return to the expected trajectory.

[0037] like Figure 3As shown, this embodiment uses the STM32F103VET6 chip as the microprocessor. The MCU (Micocontroller Unite) is the core of the hardware system of the bionic beetle robot. Its main task is to process control signals and sensor information, and control the torque of the four stepper motors by controlling the frequency and width of the PWM (Pulsewidth modulation) signal. The circuit equipment mainly includes a lithium battery and a wireless charging coil. The communication module uses wireless serial port communication, which is connected to the MCU and personal PC through a wireless serial port to realize wireless interactive data transmission.

[0038] As shown in Figure 4, the foot propulsion mechanism of this embodiment is mainly composed of a stepper motor, a tibia, a leg, a driving rod, a connecting rod, a fixed rod and a rocker. The stepper motor is fixed to the inner side of the robot's abdominal shell through a motor mounting bracket; the foot propulsion mechanism is fixed to the outer side of the robot's abdominal shell through a fixed rod. The connecting rod is hinged with the driving rod and the rocker to transmit the rotational motion of the driving rod to the rocker for reciprocating swing; the rocker is hinged with the leg and tibia to transmit its motion to the leg and tibia, giving the bionic bean shell robot two moving joints on its foot, similar to the foot of a biological bean shell, making the swing of the robot's foot closer to that of a biological bean shell, greatly improving the autonomy and flexibility of the bionic bean shell robot.

[0039] like Figure 5 As shown, this embodiment designs an artificial CPG network composed of four oscillator units for the bionic beetle robot. The bionic beetle robot has four degrees of freedom. By adjusting the control parameter variables of the CPG network, such as frequency, amplitude, amplitude offset, time asymmetry coefficient and phase offset, etc., the swing relationship between the middle and rear feet in the process of coupled coordinated propulsion is adjusted to achieve different motion states of the bionic beetle robot.

[0040] The control method of a rapid water swivel swimming described in this example includes the following process: 1. Coupling and coordination of midfoot and hindfoot movements (1) When the bionic beetle robot performs linear motion, the control parameters of the CPG network are adjusted, the frequency fi and amplitude bias of the oscillation factor in the middle and rear foot CPG units are set to the same value, and the phase bias is set to 0. By setting the appropriate amplitude to change the swing force of the robot's foot, sufficient forward or backward thrust is generated to achieve linear motion of the robot.

[0041] (2) When the bionic dragon claw robot performs a small-amplitude rotation motion, the hind foot remains stationary, and the phase of the left midfoot leads that of the right midfoot, achieving a small-amplitude rotation motion. When the bionic dragon claw robot performs a large-amplitude rotation motion, the hind foot provides forward thrust while adjusting the swing amplitude of the left and right sides of the midfoot to achieve a large-amplitude turn. Furthermore, the swing frequency of the midfoot is increased to improve the steering sensitivity.

[0042] 2. Movement patterns of the midfoot and hindfoot The midfoot and rearfoot are driven by four stepper motors. With the help of the mechanical characteristics of the crank rocker mechanism, the rotational motion of the stepper motor is converted into the reciprocating swing of the foot. The motion diagram of the foot mechanism is shown in Figure 7. Assuming the speed of the stepper motor output shaft is n (r / min), the effective length of the drive rod is l1, the effective length of the connecting rod is l2, and the effective length of the rocker is l3, the angular velocity of the drive rod is ; Then we can get ; The speed of the outer end point of the joystick .

Claims

1. A bionic beetle robot capable of rapid water-swimming, characterized in that: The robot body includes a control module, and also includes a head component of a dragon shell, an abdomen component with a pair of middle foot propulsion mechanisms, and a tail component with a pair of rear foot propulsion mechanisms arranged in a front-to-back order. The middle foot propulsion mechanism and the rear foot propulsion mechanism respectively form the middle foot and rear foot of the robot, and both include a crank rocker mechanism driven by a stepper motor, which converts the rotational motion of the stepper motor into reciprocating swinging of the foot; the control module adjusts the swinging force of the foot by setting the amplitude of each crank rocker mechanism to execute the linear motion of the robot, and drives the water to form a vortex by changing the coupling motion parameters of the middle foot and the rear foot during a small water stirring action to drive the robot body to rotate.

2. The bionic beetle robot capable of rapid water gyration according to claim 1, characterized in that: The robot has a streamlined appearance similar to that of a biological beetle.

3. The bionic beetle robot capable of rapid water gyration according to claim 1, characterized in that: The beetle head assembly comprises a rigid beetle head shell and a beetle head camera fixing frame arranged inside the rigid beetle head shell, and a camera is arranged at the beetle head camera fixing frame.

4. The bionic beetle robot capable of rapid water gyration according to claim 3, characterized in that: A fish-eye structure is provided at the left and right sides of the upper end of the surface of the head of the beetle and adjacent to the camera. The fish-eye structure is provided with an observation hole for the camera to collect underwater images, and the observation hole is sealed with hot melt adhesive.

5. The bionic beetle robot capable of rapid water gyration according to claim 1, characterized in that: The abdominal component of the beetle includes an abdominal shell of the beetle, and also includes a power supply device, a microprocessor, a printed circuit board, four stepper motors, an IMU and a wireless communication device arranged in the abdominal shell of the beetle; the power supply device includes a lithium battery and a wireless charging coil, which are used to power the electronic devices in the robot, and when the communication working frequency of the wireless communication device is selected, the frequency band in which the water medium absorbs the strongest electromagnetic waves is avoided to facilitate the transmission of signals over longer distances; The IMU is used to provide real-time motion and posture feedback to the robot to improve the accuracy and stability of the robot's action execution.

6. The bionic beetle robot capable of rapid water gyrations according to claim 5, characterized in that: The microprocessor adopts STM32F103VET6, and the wireless communication device includes a wireless serial port module with an operating frequency of 433 MHz.

7. The bionic beetle robot capable of rapid water gyrations according to claim 1, characterized in that: The shells of the head component, the abdomen component and the tail component of the beetle are pressure-resistant and waterproof shells formed of polylactide; The three parts of the outer shell are connected and fastened by bolt fasteners. O-type silicone rubber sealing rings are provided at the joints and waterproof silicone grease is applied to form a static sealing and waterproof structure of the robot body.

8. The bionic beetle robot capable of rapid water gyrations according to claim 1, characterized in that: The propulsion mechanism at the middle foot and rear foot of the robot includes a stepper motor, a stepper motor mounting bracket and a foot joint; the stepper motor is connected to a driving rod outside the foot joint; The foot joint body is a crank rocker mechanism, including a driving rod, a leg joint, a tibia, a connecting rod, a fixed rod and a rocker connected to the above-mentioned stepper motor; one end of the fixed rod is connected to the shell screw of the abdominal assembly of the black carapace, one end of the connecting rod is hinged to the driving rod, both ends of the rocker are respectively hinged to one end of the fixed rod and the middle part of the tibia, the middle part of the rocker is hinged to the other end of the connecting rod, the end of the tibia is hinged to one end of the leg joint, and the other end of the leg is hinged to the other end of the fixed rod.

9. A method for operating a bionic beetle robot capable of rapid water gyrations, for use with the robot of claim 8, characterized in that: In the working method, the control module forms a CPG network through four oscillator units, which is used to control the four-degree-of-freedom drive of the robot during linear motion and rotary motion, and uses the mechanical characteristics of the crank rocker mechanism to drive the leg of the dragonfly to swing. The linear motion mode and rotary motion mode of the robot are realized by adjusting the control parameters of the CPG network.

10. The working method of the bionic beetle robot capable of rapid water gyration according to claim 9, characterized in that: The microprocessor built into the control module controls the rotational torque of the four stepper motors by controlling the frequency and width of the PWM signal; The working method of the bionic beetle robot in the linear motion mode is as follows: the rear foot provides the robot with a forward or backward thrust by swinging, which determines whether the robot moves forward or backward; further, while the rear foot provides thrust, the propulsion mechanism of the mid-foot maintains the same motion posture and swings back and forth quickly, thereby increasing the moving speed and realizing the rapid advancement of the robot; The working method of the bionic beetle robot in the cyclotron motion mode is: the hind foot and the midfoot provide propulsion and steering control to each other, and different steering amplitudes are adjusted by adjusting the control parameters of the midfoot and the hind foot. The specific adjustment method is: Adjustment method A: The rear foot remains stationary, and the robot's mid-foot swings back and forth to generate propulsion. When the swing amplitude of the left / right mid-foot is greater than the swing amplitude of the right / left mid-foot, a left / right turn is achieved; further, if the mid-foot continues to swing, and the swing amplitude of the left / right side is greater than that of the right / left side, a small-amplitude cyclotron motion is achieved; Adjustment method B: While the rear foot swings to provide forward thrust to the robot, the robot's middle foot swings back and forth to generate propulsion. When the swing amplitude of the left / right middle foot is greater than the swing amplitude of the right / left middle foot, a large left / right turn is achieved. Furthermore, if the middle foot continues to swing and the left / right side swing amplitude is greater than the right / left side, a large-scale rotation motion is achieved. Furthermore, increasing the swing frequency of the middle foot improves the steering sensitivity.

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