Hexapod robot for free dancing and dancing welcome

Abstract

The hexapod robot can dance and welcome, and entertainment and service can be provided for people. The six-foot robot is secondarily developed on the basis of a common six-foot robot, and the developed content comprises the following steps: 1, new dance actions such as swinging dance, propeller, seal climbing and welcome dance; 2, when no person approaches, the robot performs, randomly selects other dancing actions and dances; and when someone approaches, the robot turns to perform welcome action and shows welcome. After meeting, the robot automatically returns to the performance state.

Description

Technical Field

[0001] The present invention belongs to the field of robots, and specifically relates to a six-legged robot that can dance and greet guests, providing entertainment and services for people. Background Art

[0002] Due to the broad prospects of robot applications, the development of robot (or AI) technologies for various fields in life is increasing. Entertainment and service are two very important directions, so the development of various entertainment and service projects is an important application of robot technology; the good combination of entertainment and service is also an important application of robot technology.

[0003] The present invention is a secondary development based on a common six-legged robot as a development platform. First, new dance moves such as swing dance, propeller, seal crawl, and greeting dance are developed; second, the control board continuously randomly selects and drives the robot to dance among dance moves such as swing dance, propeller, and seal crawl; when the ultrasonic sensor detects someone approaching, the robot interrupts the current action and switches to the greeting action. After completing the greeting action, it returns to the state of randomly selecting dance moves and dancing.

[0004] The action shown in the swing dance is that the six legs of the robot regularly twist forward, backward, left, and right, and the robot body sways continuously accordingly.

[0005] The action shown in the propeller is that the six legs of the robot rotate parallel at intervals by a certain angle. Repeating in a cycle, the running form is similar to a propeller.

[0006] The action shown in the seal crawl is that the robot imitates the crawling of a seal, and its crawling action form is similar to that of a seal.

[0007] The action shown in the greeting dance is that the robot first jumps in place, then the front two legs dance up and down, and then the front two legs turn up to make a saluting gesture.

[0008] Various dance moves are novel, and the greeting action also reflects anthropomorphic service actions. Overall, the combination of entertainment and service is very natural and smooth. Therefore, this robot has excellent application value. Summary of the Invention

[0009] The present invention relates to a six-legged robot that can dance and greet guests, providing entertainment and services for people. The present invention is a secondary development based on a common six-legged robot, and the developed contents include: first, new dance moves such as swing dance, propeller, seal crawl, and greeting dance; second, when no one is approaching, the robot performs - randomly selects other dance moves and dances; when someone is approaching, the robot switches to the greeting dance to show welcome. After greeting, the robot automatically returns to the performance state.

[0010] The technical solution of the present invention is as follows: 1. Composition of a general hexapod robot (as a development platform) The development platform used in the present invention consists of the following parts: One hexapod robot body; one set of back brackets; one Arduino UNO; one UNO expansion board; one light-emitting ultrasonic sensor; one acceleration sensor; one LED dot matrix module; one LFD-01 anti-blocking servo; one Arduino data cable; one 3PIN cable; four 4PIN cables; several accessories such as screws and nuts 2. Swaying dance: The six legs twist regularly and significantly in a natural way, and as a whole, it is manifested as the robot swaying rhythmically and significantly.

[0011] 3. Propeller: Legs 1, 3, and 5 rotate parallel in the same direction by a certain angle, and then legs 2, 4, and 6 rotate parallel in the same direction by a certain angle. This repeats in cycles, and the running form is similar to that of a propeller.

[0012] 4. Seal crawl: The front two legs imitate the two pectoral fins of a seal, and its crawling motion form is similar to that of a seal. The front two legs move while the rear four legs remain stationary, thus driving the whole robot to perform the crawling action of a seal.

[0013] 5. Welcoming dance: The six legs first touch the ground, making the whole robot jump slightly in place, and then the middle two legs dance slightly to show cheerfulness; then, the front two legs dance up and down, and then the front two legs turn upwards to make a saluting gesture.

[0014] 6. Control board: After the robot is started, the control board controls the robot to randomly select a dance action and dance. When someone approaches, the control board interrupts the current action and drives the robot to perform a series of welcoming actions (welcoming dance). Description of the drawings

[0015] Figure 1 : Schematic diagram of the overall structure of a general hexapod robot (as a development platform) Figure 2 : Schematic diagram of the Bus Servo Control structure Figure 3 : Current angles and execution sequences of all servos for the welcoming dance Figure 1 Figure 4 : Appearance diagram of the welcoming dance Figure 5 : Diagram of the current angles and execution sequences of all servos for the swaying dance Figure 6 : Appearance diagram of the swaying dance Figure 7 : Diagram of the current angles and execution sequences of all servos for the seal crawl Figure 8 : Seal crawling appearance diagram Figure 9 : Current angles and execution order of all servos of the propeller Figure 1 Figure 10 : Current angles and execution order of all servos of the propeller Figure 2 Figure 11 : Propeller appearance diagram Figure 12 : Control board working flow chart Specific implementation manners

[0016] The specific implementation manners of the present invention will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the present invention and are not intended to limit the present invention.

[0017] Embodiment 1: Overall device architecture As Figure 1 shown, the ordinary hexapod robot is assembled and debugged externally (or by itself) and used as a development platform.

[0018] Embodiment 2: Bus Servo Control platform As Figure 2 shown, the angle of each servo can be set by the developer according to needs. Each time a setting is made, a set (row) of servo (18 servos) angle data is formed. Then, the set n groups of data are run in sequence to drive each leg to move according to the instructions, forming the designed actions Embodiment 3: Welcome dance As Figure 3 shown, it is part of the current angle data of all servos of the welcome dance, 1 - 5 groups (rows), as a representative of all the current angle data of all servos. There are a total of 61 groups (rows) of current angle data for all servos. Since there is too much data, it is not convenient to screenshot all the data. During execution, it is executed in a loop in the order from 1 to 61.

[0019] As Figure 4 shown, it shows the running effect of the whole machine at a certain moment when performing the welcome dance.

[0020] Embodiment 4: Swing dance As Figure 5 shown, it is the current angle data of all servos of the swing dance, a total of 5 groups (rows). During execution, it is executed in a loop in the order from 1 to 5.

[0021] As Figure 6 shown, it shows the running effect of the whole machine at a certain moment when performing the swing dance.

[0022] Embodiment 5: Seal crawling As Figure 7As shown, it is the current angle data of all servos for the seal crawl, with a total of 4 groups (rows). When executing, it loops in the order from 1 to 4.

[0023] As Figure 8 shown, it shows the operating effect of the whole machine at a certain moment when doing the seal crawl.

[0024] Implementation 6: Propeller As Figure 9 and Figure 10 shown, it is the current angle data of all servos for the propeller, with a total of 6 groups (rows). When executing, it loops in the order from 1 to 6.

[0025] As Figure 11 shown, it shows the operating effect of the whole machine at a certain moment when doing the propeller dance.

[0026] Implementation 7: Control program and control board Design a control program with the process as Figure 12 shown, and use a common Arduino Uno development board. Download the control program to the development board to form a control board.

[0027] After the robot starts, the control board works. When no one is near, it continuously randomly selects dance moves such as the sway dance, propeller dance, and seal crawl and drives the robot to dance; when the ultrasonic sensor detects someone approaching, it controls the robot to interrupt the current action and switch to the welcome dance. After finishing the welcome dance, it returns to the state of randomly selecting dance moves and dancing.

Claims

1. A six-legged robot that can dance freely and welcome guests, including: A common hexapod robot as a development platform; Swing dance, a novel hexapod robot dance movement that performs a swinging motion; Propeller, a novel dance movement of a hexapod robot with a propeller-like running form; Seal Crawl, a novel hexapod robot dance move with a running form similar to the crawl of a seal; Welcoming dance, a novel hexapod robot dance action with a running form similar to welcoming guests; The control panel controls the robot to randomly select dance moves and dance; it can also control the interruption of the current action and drive the robot to dance the welcoming dance.

2. According to the robot described in claim 1, the hexapod robot swing dance is characterized in that the six legs twist forward, backward, left and right regularly, which is reflected as the robot swinging rhythmically and significantly as a whole. When twisting forward, the front two legs contract, while the back two legs extend, and the middle two legs are basically motionless; when twisting backward, the back two legs contract, while the front two legs extend, and the middle two legs are basically motionless; when twisting left, the left three legs contract, while the right three legs extend; when twisting right, the right three legs contract, while the left three legs extend.

3. According to the robot described in claim 1, the hexapod robot propeller is characterized in that legs 1, 3, and 5 are parallel and rotated in the same direction at a certain angle and then landed, and then legs 2, 4, and 6 are parallel and rotated in the same direction at a certain angle and then landed. The cycle is repeated, the operation form is similar to a propeller, and the robot is movable as a whole.

4. According to the robot described in claim 1, the hexapod robot seal crawling is characterized in that the front two legs imitate the two pectoral fins of a seal, and its crawling action form is imaginary. The front two legs move, and the back four legs do not move, thereby driving the robot as a whole to perform the crawling action of a seal.

5. According to the robot described in claim 1, the welcoming dance of the six-legged robot is characterized in that the six legs first touch the ground, allowing the robot as a whole to jump slightly on the spot, and then the two middle legs dance slightly to express joy; then, the two front legs dance up and down, and then the two front legs flip up to make a salute gesture.

6. The robot according to claim 1, wherein the overall operation feature is that when no one is approaching, the robot randomly selects dance movements such as swing dance, propeller dance, seal crawl and so on and dances; when someone is approaching, the robot is controlled to interrupt the current movement and perform a welcoming movement. After performing the welcoming movement, the robot returns to the state of randomly selecting dance movements and dancing.

Images