Rope-driven cross-medium mobile robot and control method thereof

Abstract

The invention discloses a rope-driven cross-medium mobile robot and a control method thereof, and belongs to the field of mobile robots. The robot is provided with three motors which move independently, three waveforms of different phases can be generated, when the three motors move cooperatively, the robot reciprocates among the waveforms of the three different phases, and the mobile robot is driven by three sets of ropes to generate continuous fluctuation. The fluctuating motion is not only suitable for complex land environments, but also suitable for swimming in water, so that the cross-medium motion of the mobile robot is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, and in particular to a rope-driven cross-medium mobile robot and a control method thereof. Background Art

[0002] Cross-media mobile robots can switch freely in different environments, which improves the flexibility and adaptability of task execution. In complex terrain or extreme environments, robots can travel through a variety of media such as water and land, broadening their application scenarios, and are particularly suitable for tasks such as environmental monitoring, disaster relief, and pipeline inspection. At present, most cross-media motion robots combine two or more motion modes to achieve cross-media motion. How to use a single motion mode to achieve cross-media motion on land and water is still an urgent problem to be solved. Summary of the invention

[0003] The present invention provides a rope-driven cross-medium mobile robot and a control method thereof. The mobile robot is equipped with three independently moving motors and can generate three waveforms with different phases. Through the coordinated movement of the three motors, the robot switches between the three phase waveforms to achieve wave motion. This movement mode is not only suitable for complex terrestrial environments, but also can float on the water surface and swim, thereby achieving amphibious cross-medium movement.

[0004] A first aspect of the present invention provides a rope-driven cross-medium mobile robot, comprising:

[0005] skeleton;

[0006] Three groups of independently moving motors and ropes, the motors are fixed on the frame, and the output shafts of the motors are connected to the frame through ropes. The three groups of motors output waveforms of different phases. The three groups of motors move in coordination, and the ropes are used to drive the frame to switch between the three phase waveforms, thereby realizing the wave motion of the robot;

[0007] A film is used to wrap the skeleton and the three groups of independently moving motors.

[0008] A second aspect of the present invention provides a control method for a rope-driven cross-medium mobile robot, wherein the robot has three motors, namely, motor A, motor B, and motor C, and the ropes of the three motors are respectively rope A1, rope A2, rope B1, rope B2, rope C1, and rope C2, and the control method comprises the following steps:

[0009] Step 1: Motor A, Motor B, and Motor C are in a reset state, and rope A1, rope A2, rope B1, rope B2, rope C1, and rope C2 are in a tensioned state but the robot is not deformed;

[0010] Step 2: Control the B motor to rotate forward so that the B1 rope and the B2 rope contract. At this time, the robot is in phase B.

[0011] Step 3: Control the B motor to rotate in the reverse direction to release the B1 rope and the B2 rope, and at the same time control the A motor to rotate in the forward direction to contract the A1 rope and the A2 rope. At this time, the robot is in phase A.

[0012] Step 4: Control the A motor to rotate in the reverse direction to release the A1 rope and the A2 rope, and control the C motor to rotate in the forward direction to contract the C1 rope and the C2 rope. At this time, the robot is in phase C.

[0013] Step 5: Control the C motor to rotate in the opposite direction to release the C1 rope and the C2 rope, and return to step 2 at the same time. Through the coordinated movement of the three groups of motors, the ropes are used to drive the skeleton to switch between the three phase waveforms to realize the wave motion of the robot.

[0014] An embodiment of the present invention provides a rope-driven cross-medium mobile robot and a control method thereof. The robot is equipped with three independently moving motors that can generate waveforms of three different phases. When the three motors move in coordination, the robot cycles back and forth between the three waveforms of different phases. The three sets of ropes are used to drive the mobile robot to generate continuous fluctuations. This wave motion is suitable for both complex land environments and swimming in water, thereby realizing the cross-medium movement of the mobile robot.

[0015] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0017] Figure 1 A structural diagram of a rope-driven cross-medium mobile robot provided according to an embodiment of the present invention;

[0018] Figure 2 A structural diagram of a skeleton of an embodiment of the present invention;

[0019] Figure 3 A structural diagram of a bone joint according to an embodiment of the present invention;

[0020] Figure 4 It is a structural diagram of an equal-diameter double-wire shaft according to an embodiment of the present invention;

[0021] Figure 5 A structural diagram of a dual-spool with different diameters according to an embodiment of the present invention;

[0022] Figure 6A motor and rope configuration diagram for implementing phase A according to an embodiment of the present invention;

[0023] Figure 7 A structural diagram of a robot in phase A according to an embodiment of the present invention;

[0024] Figure 8 A motor and rope configuration diagram for implementing phase B according to an embodiment of the present invention;

[0025] Fig. 9 is a structural diagram of a robot in phase B according to an embodiment of the present invention;

[0026] Fig.10 A motor and rope configuration diagram for implementing phase C according to an embodiment of the present invention;

[0027] Fig.11 This is a structural diagram of the robot in phase C according to an embodiment of the present invention.

[0028] Figure numerals: 1-skeleton, 11-joint, 111-complete joint, 1111-upper left thread hole of complete joint, 1112-upper right thread hole of complete joint, 1113-lower left thread hole of complete joint, 1114-lower right thread hole of complete joint, 112-half joint, 1121-left thread hole of half joint, 1122-right thread hole of half joint, 12-bone bridge; 21-motor, 22-rope, 23-equal diameter double thread shaft, 231-equal diameter double thread shaft I thread shaft, 232-equal diameter double thread shaft II thread shaft, 24 -Double spools of different diameters, 241-narrow spools of double spools of different diameters, 242-wide spools of double spools of different diameters; A21-A motor, A24-A double spools of different diameters, A112-A half-bone segment, A1-A1 rope, A2-A2 rope; B21-B motor, B23-B double spools of equal diameters, B112-B half-bone segment, B1-B1 rope, B2-B2 rope; C21-C motor, C24-C double spools of different diameters, C112-C half-bone segment, C1-C1 rope, C2-C2 rope. DETAILED DESCRIPTION

[0029] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0030] like Figure 1 and Figure 2 As shown, the rope-driven cross-medium mobile robot comprises:

[0031] Skeleton 1;

[0032] Three groups of independently moving motors 21 and ropes 22, the motors 21 are fixed on the frame 1, and the output shafts of the motors are connected to the frame 1 through the ropes 22, the three groups of motors output waveforms of different phases, the three groups of motors move in coordination, and the ropes 22 are used to drive the frame 1 to switch between the three phase waveforms, so as to realize the wave motion of the robot;

[0033] The film is used to wrap the skeleton 1 and three sets of independently moving motors 21.

[0034] In the embodiment of the present invention, the film completely wraps the skeleton 1 and the three groups of independently moving motors 21 and ropes 22. The film is soft, bendable and waterproof. The film is not shown in the figure.

[0035] In an embodiment of the present invention, Figure 2 and Figure 3 As shown, the skeleton 1 includes a plurality of condyles 11 and a bone bridge 12, and the condyles 11 are evenly spaced on the bone bridge 12, and the centers of the condyles 11 and the bone bridge 12 are in the same horizontal plane; the condyles 11 include a complete condyle 111 and a half condyle 112, and the half condyle 112 is geometrically half of the complete condyle 111; a complete condyle upper left linear hole 1111 is arranged at the upper left of the complete condyle 111, a complete condyle upper right linear hole 1112 is arranged at the upper right, a complete condyle lower left linear hole 1113 is arranged at the lower left, and a complete condyle lower right linear hole 1114 is arranged at the lower right; a half condyle left linear hole 1121 is arranged at the lower left of the half condyle 112, and a half condyle right linear hole 1122 is arranged at the lower right.

[0036] In the embodiment of the present invention, the skeleton 1 is made of flexible material TPU or silicone.

[0037] In the embodiment of the present invention, the cross section of the condyle 11 is rectangular or I-shaped.

[0038] In an embodiment of the present invention, Figure 1 , Figure 4 and Figure 5 As shown, the motor 21 includes an equal-diameter double-wire shaft 23 or a different-diameter double-wire shaft 24, which is fixed to the output shaft of the motor 21, one end of the rope 22 is connected to the equal-diameter double-wire shaft 23 or the different-diameter double-wire shaft 24, and the other end is connected to the joint 11, the equal-diameter double-wire shaft 23 includes an equal-diameter double-wire shaft I shaft 231 and an equal-diameter double-wire shaft II shaft 232, the equal-diameter double-wire shaft I shaft 231 and the equal-diameter double-wire shaft II shaft 232 have the same diameter, the different-diameter double-wire shaft 24 includes a different-diameter double-wire shaft narrow shaft 241 and a different-diameter double-wire shaft wide shaft 242, and the ratio of the diameters of the different-diameter double-wire shaft narrow shaft 241 and the different-diameter double-wire shaft wide shaft 242 is 1:2.

[0039] In one embodiment of the present invention, the number of segments 11 is an odd number 2n+1, where n is a natural number greater than 4, and the skeleton includes 3 semi-segments 112 and 2n-2 complete segments 111. The 3 semi-segments are A semi-segment A112, B semi-segment B112, and C semi-segment C112, corresponding to the installation positions of A motor A21, B motor B21, and C motor C21, respectively. The position of one of the end segments is the first position, the position of the other end segment is the 2n+1th position, and the A semi-segment A112 is arranged at the first position. position, ceil is rounded up, B semi-segment B112 is set at the n+1th position, C semi-segment C112 is set at the position, and complete joints are set at the remaining positions.

[0040] exist Figure 1 In the figure, n is 5, wherein the skeleton includes 3 semi-segments and 8 complete segments. The three groups of motors are respectively arranged on the three semi-segments, namely the 4th position, the 6th position and the 8th position, and the remaining positions are complete segments.

[0041] In one embodiment of the present invention, Figure 6 and Figure 7 As shown, the setting method of motor A21 and the rope connection relationship are demonstrated.

[0042] Specifically, in one embodiment of the present invention, the A motor A21 is fixed on the bone bridge 12 above the A semi-membrane A112, the motor output shaft of the A motor A21 is fixed with the A reducing double-wire shaft A24, the A reducing double-wire shaft A24 is on the left side of the robot, one end of the A1 rope of the A motor A21 is fixed on the narrow wire shaft of the A reducing double-wire shaft, and the other end of the A1 rope passes through the first The complete condyle from position 1 to the left lower line hole, The right lower wire hole of the complete joint at the position is fixed to the right wire hole of the half joint A112; one end of the A2 rope of the A motor A21 is fixed to the wide wire shaft of the A double wire shaft, and the other end of the A2 rope passes through the first The left upper line hole of the complete condyle from the position to the nth position, the (n+2)th position to the The complete condyle position is the upper left line hole, The left upper line hole of the complete condyle from the position to the (2n+1)th position, the (2n+1)th position to the The complete condyle position is the upper right line hole, The right upper line hole of the complete condyle from position (n+2), the nth to position (n+2) The complete condyle in the position is fixed to the right upper linear hole of the half condyle A112 after being inserted into the right linear hole of the half condyle A112.

[0043] In one embodiment of the present invention, Figure 8and Fig. 9 As shown, the setting method of motor B21 and the rope connection relationship are demonstrated.

[0044] Specifically, the B motor B21 is fixed on the bone bridge 12 above the B semi-membrane B112, and the motor output shaft of the B motor B21 is fixed with a B equal-diameter double-wire shaft B23, which includes a B equal-diameter double-wire shaft I shaft and a B equal-diameter double-wire shaft II shaft. The B equal-diameter double-wire shaft B23 is on the right side of the robot, and one end of the B1 rope of the B motor B21 is fixed on the B equal-diameter double-wire shaft I shaft B231, and the other end of the B1 rope passes through the nth position to the nth position in sequence. The complete condyle position is the upper right hole, The complete condyle from position 1 to the right upper hole, The complete condyle position of the upper left hole, The B2 rope of the B motor B21 is fixed to the B equal diameter double wire shaft II wire shaft, and the other end of the B2 rope passes through the n+2th position to the nth position. The complete condyle right lower line hole, the first The right line hole of the half bone segment The right lower line hole of the complete condyle from the position to the 2n+1 position, The complete condyle at the lower left line hole, The left line hole of the semi-tibial joint, the After being moved from the position to the lower left line hole of the complete condyle at the n+2 position, it is fixed to the left line hole of the half condyle of the B half condyle B112.

[0045] In one embodiment of the present invention, Fig.10 and Fig.11 As shown, the setting method of the motor C21 and the rope connection relationship are demonstrated.

[0046] Specifically, the C motor C21 is fixed on the bone bridge 12 above the C semi-joint C112, the motor output shaft of the C motor C21 is fixed with a C reducing double-wire shaft C24, the C reducing double-wire shaft C24 is on the left side of the robot, one end of the C1 rope of the C motor C21 is fixed on the narrow wire shaft of the C reducing double-wire shaft, and the other end of the C1 rope passes through the first The left upper hole of the complete condyle from position 2n+1 to position 2n+1, The right upper hole of the complete condyle at the position is fixed to the right wire hole of the half condyle C112; one end of the C2 rope of the C motor C21 is fixed to the wide wire shaft of the C double wire shaft, and the other end of the C2 rope passes through the first The left lower line hole of the complete bone segment from the position to the n+2 position, the left line hole of the half bone segment of the B half bone segment B112, the nth position to the The left lower line hole of the complete condyle, the left line hole of the half condyle A112, the The complete condyle from position 1 to the left lower line hole, The right lower line hole of the complete condyle at the position, the right line hole of the half condyle B112, the The right lower line hole of the complete bone segment from the position to the nth position, the right line hole of the half bone segment of the B half bone segment B112, the n+2th position to the The complete condyle is positioned at the right lower line hole and then fixed to the right line hole of the half condyle C112.

[0047] In one embodiment of the present invention, The different-diameter double-spools or equal-diameter double-spools of A motor A21, B motor B21 and C motor C21 are equivalent on the left and right sides of the robot and the threading method changes symmetrically.

[0048] A second aspect of the present invention provides a control method for a rope-driven cross-medium mobile robot, which is used for the rope-driven cross-medium mobile robot of the above embodiment, wherein the three motors of the robot are respectively A motor, B motor, and C motor, and the ropes of the three motors are respectively A1 rope, A2 rope, B1 rope, B2 rope, C1 rope, and C2 rope, and the control method comprises the following steps:

[0049] Step 1: Motor A, Motor B, and Motor C are in a reset state, and rope A1, rope A2, rope B1, rope B2, rope C1, and rope C2 are in a tensioned state but the robot is not deformed;

[0050] Step 2: Control the B motor to rotate forward so that the B1 rope and the B2 rope contract. At this time, the robot is in phase B.

[0051] Step 3: Control the B motor to rotate in the reverse direction to release the B1 rope and the B2 rope, and at the same time control the A motor to rotate in the forward direction to contract the A1 rope and the A2 rope. At this time, the robot is in phase A.

[0052] Step 4: Control the A motor to rotate in the reverse direction to release the A1 rope and the A2 rope, and control the C motor to rotate in the forward direction to contract the C1 rope and the C2 rope. At this time, the robot is in phase C.

[0053] Step 5: Control the C motor to rotate in the opposite direction to release the C1 rope and the C2 rope, and return to step 2 at the same time. Through the coordinated movement of the three groups of motors, the ropes are used to drive the skeleton to switch between the three phase waveforms to realize the wave motion of the robot.

[0054] According to the rope-driven cross-medium mobile robot and control method thereof proposed in an embodiment of the present invention, the robot is equipped with three independently moving motors, which can generate waveforms of three different phases. When the three motors move in coordination, the robot cycles back and forth between the three waveforms of different phases. The three sets of ropes drive the mobile robot to generate continuous fluctuations. This wave motion is suitable for both complex land environments and swimming in water, thereby realizing the cross-medium movement of the mobile robot.

[0055] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0056] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "N" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0057] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

Claims

1. A rope-driven cross-medium mobile robot, characterized in that: include: skeleton; Three groups of independently moving motors and ropes, the motors are fixed on the frame, and the output shafts of the motors are connected to the frame through ropes. The three groups of motors output waveforms of different phases. The three groups of motors move in coordination, and the ropes are used to drive the frame to switch between the three phase waveforms, thereby realizing the wave motion of the robot; A film is used to wrap the skeleton and the three groups of independently moving motors.

2. The robot according to claim 1, characterized in that: The skeleton includes a plurality of bone segments and a bone bridge, wherein the bone segments are evenly spaced on the bone bridge, and the centers of the bone segments and the bone bridge are in the same horizontal plane; the bone segments include complete bone segments and half bone segments, and the half bone segments are geometrically half of the complete bone segments; A complete joint left upper line hole is set at the upper left of the complete joint, a complete joint right upper line hole is set at the upper right, a complete joint left lower line hole is set at the lower left, and a complete joint right lower line hole is set at the lower right; a half joint left line hole is set at the lower left of the half joint, and a half joint right line hole is set at the lower right.

3. The robot according to claim 2, characterized in that: The motor includes an equal-diameter double shaft or a different-diameter double shaft, which is fixed to the output shaft of the motor. One end of the rope is connected to the equal-diameter double shaft or the different-diameter double shaft, and the other end is connected to the joint. The equal-diameter double shaft includes an equal-diameter double shaft I shaft and an equal-diameter double shaft II shaft, and the equal-diameter double shaft I shaft and the equal-diameter double shaft II shaft have the same diameter. The different-diameter double shaft includes a narrow shaft of the different-diameter double shaft and a wide shaft of the different-diameter double shaft, and the ratio of the diameter of the narrow shaft of the different-diameter double shaft to the wide shaft of the different-diameter double shaft is 1:

2.

4. The robot according to claim 3, characterized in that: The number of the segments is 2n+1, where n is a natural number greater than 4. The skeleton includes 3 semi-segments and 2n-2 complete segments. The 3 semi-segments are A semi-segments, B semi-segments, and C semi-segments, which correspond to the installation positions of the A motor, the B motor, and the C motor, respectively. The position of one of the end segments is the 1st position, the position of the other end segment is the 2n+1th position, and the A half segment is set at the position, ceil is rounded up, the B semi-segment is set at the n+1th position, the C semi-segment is set at the position, and complete joints are set at the remaining positions.

5. The robot according to claim 4, characterized in that: The A motor is fixed on the bone bridge above the A semi-joint. The motor output shaft of the A motor is fixed with an A double-thread shaft with different diameters. The A double-thread shaft with different diameters is on the left side of the robot. One end of the A1 rope of the A motor is fixed on the narrow spool of the A double-thread shaft with different diameters. The other end of the A1 rope passes through the first The complete condyle from position 1 to the left lower line hole, The right lower wire hole of the complete joint at the position is fixed to the right wire hole of the half joint of the A half joint; one end of the A2 rope of the A motor is fixed to the wide wire shaft of the A double wire shaft, and the other end of the A2 rope passes through the first The left upper line hole of the complete condyle from the position to the nth position, the (n+2)th position to the The complete condyle position is the upper left line hole, The left upper line hole of the complete condyle from the position to the (2n+1)th position, the (2n+1)th position to the The complete condyle position is the upper right line hole, The right upper line hole of the complete condyle from position (n+2), the nth to position (n+2) The complete condyle in the position is fixed to the right upper linear hole of the half condyle of the A half condyle.

6. The robot according to claim 4, characterized in that: The B motor is fixed on the bone bridge above the B semi-joint. The motor output shaft of the B motor is fixed with a B equal-diameter double-wire shaft. The B equal-diameter double-wire shaft includes a B equal-diameter double-wire shaft I shaft and a B equal-diameter double-wire shaft II shaft. The B equal-diameter double-wire shaft is on the right side of the robot. One end of the B1 rope of the B motor is fixed on the B equal-diameter double-wire shaft I shaft. The other end of the B1 rope passes through the nth position to the nth position in sequence. The complete condyle of the right upper hole, the The complete condyle from position 1 to the right upper hole, The complete condyle position is the upper left hole, The B2 rope of the B motor is fixed to the B equal diameter double-wire shaft II shaft, and the other end of the B2 rope passes through the n+2th position to the nth position. The complete condyle right lower line hole, The right line hole of the half bone segment The right lower line hole of the complete condyle from the position to the 2n+1 position, The complete condyle at the lower left line hole, The left line hole of the semi-tibial joint, the After being moved from the position to the lower left line hole of the complete condyle at the n+2 position, it is fixed to the left line hole of the half condyle of the B half condyle.

7. The robot according to claim 4, characterized in that: The C motor is fixed on the bone bridge above the C semi-joint. The motor output shaft of the C motor is fixed with a C double-thread shaft. The C double-thread shaft is on the left side of the robot. One end of the C1 rope of the C motor is fixed on the narrow thread shaft of the C double-thread shaft. The other end of the C1 rope passes through the first The left upper hole of the complete condyle from position 2n+1 to position 2n+1, The C2 rope of the C motor is fixed to the wide wire shaft of the C double wire shaft, and the other end of the C2 rope passes through the first and second wire shafts in sequence. The left lower line hole of the complete bone segment from the position to the n+2 position, the left line hole of the half bone segment of the B half bone segment, the nth position to the The left lower line hole of the complete condyle, the left line hole of the half condyle of the A half condyle, The complete condyle from position 1 to the left lower line hole, The right lower line hole of the complete condyle at the position of B, the right line hole of the half condyle of the half condyle, The right lower line hole of the complete bone segment from the position to the nth position, the right line hole of the half bone segment of the B half bone segment, the n+2th position to the The complete condyle is positioned at the right lower line hole and then fixed to the right line hole of the half condyle of the C half condyle.

8. The robot according to claim 4, characterized in that: The different-diameter double-spools or equal-diameter double-spools of the A motor, B motor, and C motor are equivalent on the left and right sides of the robot and the threading method changes symmetrically.

9. The robot according to claim 2, characterized in that: The cross section of the condyle 11 is rectangular or I-shaped.

10. A control method for a rope-driven cross-medium mobile robot, used for the rope-driven cross-medium mobile robot according to any one of claims 1 to 9, wherein the robot has three motors, namely, motor A, motor B, and motor C, and the ropes of the three motors are respectively rope A1, rope A2, rope B1, rope B2, rope C1, and rope C2, characterized in that: The control method comprises the following steps: Step 1: Motor A, Motor B, and Motor C are in a reset state, and rope A1, rope A2, rope B1, rope B2, rope C1, and rope C2 are in a tensioned state but the robot is not deformed; Step 2: Control the B motor to rotate forward so that the B1 rope and the B2 rope contract. At this time, the robot is in phase B. Step 3: Control the B motor to rotate in the reverse direction to release the B1 rope and the B2 rope, and at the same time control the A motor to rotate in the forward direction to contract the A1 rope and the A2 rope. At this time, the robot is in phase A. Step 4: Control the A motor to rotate in the reverse direction to release the A1 rope and the A2 rope, and control the C motor to rotate in the forward direction to contract the C1 rope and the C2 rope. At this time, the robot is in phase C. Step 5: Control the C motor to rotate in the opposite direction to release the C1 rope and the C2 rope, and return to step 2 at the same time. Through the coordinated movement of the three groups of motors, the ropes are used to drive the skeleton to switch between the three phase waveforms to realize the wave motion of the robot.

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