Hexapod robot and control method thereof

Abstract

This invention discloses a hexapod bionic robot and its control method, capable of real-time environmental monitoring. The robot includes a walking mechanism and a shell, with the shell mounted on the walking mechanism. The shell's shape is modeled after a nanofiber desert beetle. The walking mechanism includes a controller, a power supply, an upper base plate, and a lower base plate. Six sets of walking legs are connected between the parallel and fixed upper and lower base plates. The power supply is connected to the controller and the six sets of walking legs via wires. The six sets of walking legs are arranged in two symmetrical rows, each with the same external structure. Each set of walking legs includes a servo mount, a first servo, a second servo, a thigh, and a lower leg. The servo mount is mounted between the upper and lower base plates. The first servo and the thigh are fixedly mounted on the servo mount. The first servo's output shaft is fixedly connected to the upper base plate, one side of the thigh is fixedly connected to the second servo's output shaft, and the second servo is fixedly connected to the lower leg.

Description

Technical Field

[0001] This invention relates to the field of bionic robots, and more particularly to a hexapod bionic robot and its control method. Background Technology

[0002] In recent years, with the rapid development of robotics technology, bionic robots, as a new type of robot, have created a wave of interest in academia and industry. However, in terms of functionality, most bionic robots are produced for entertainment purposes, while those applied in other fields are mostly used in biology, medicine, neuroscience, etc. How to enable bionic robots to work outdoors has become a challenge.

[0003] Currently, biomimetic robots are a key research project for foreign universities. For example, MIT's robotic dog has four legs built using servo geared motors. However, their research focuses on algorithms. After combining their superior algorithms, it has achieved many actions, such as running, jumping, and throwing. But its complex algorithms have also made control a problem. If ported, it may require changing all the core code, so its practicality cannot be greatly improved at present. Moreover, it can only be controlled via a wireless LAN. The hardware cost for algorithm compatibility is thousands of dollars. If it is applied to other fields, the cost may be far more than that. If applied to the field of detection, it cannot work at long distances without a wireless LAN, and the repair cost for damage is also very high.

[0004] With the continuous development of human society, environmental protection and ecological construction have become issues of widespread concern. Simultaneously, with the advancement of technology and the widespread application of various environmental monitoring devices, people have increasingly higher requirements for the accuracy and real-time performance of environmental parameter data collection. There is a need to provide more precise and efficient means for environmental protection. Furthermore, with economic development and population growth, environmental pollution and ecological damage have become global problems. To reduce environmental pollution and ecological damage, a robot capable of real-time environmental monitoring and early warning is needed to improve the efficiency and accuracy of environmental protection.

[0005] The Namib Desert Beetle, a subclass of Coleoptera, primarily inhabits the Namib Desert in Namibia. Namib means "remote, dry plain" in the local language. This arid climate has persisted for at least 80 million years, resulting in annual rainfall of less than 10 millimeters, making it virtually barren. The Namib Desert Beetle is renowned as a "survival expert" in this harsh environment.

[0006] Based on the need for biomimetic robots to work outdoors, this invention combines the external structure and biological characteristics of the Namib Desert Beetle to provide a Namib Desert Beetle biomimetic robot. Summary of the Invention

[0007] To address the aforementioned problems, this invention proposes a hexapod bionic robot capable of real-time environmental monitoring and its control method. It employs 12 servo motors to control the walking mechanism and has already achieved remote control via a 5G network. The robot can perform environmental detection tasks, has an independent visual control platform, and is simpler and faster to operate. It also boasts low maintenance costs, uses readily available materials, significantly reducing R&D costs, and can be independently expanded with additional modules. Therefore, it has considerable value for both research and practical application.

[0008] To achieve the above objectives, the present invention is implemented according to the following technical solution:

[0009] The Namib Desert Beetle Bionic Robot comprises a walking mechanism and a shell. The shell is mounted on the walking mechanism and its shape is modeled after the Namib Desert Beetle. The walking mechanism includes a controller, a power supply, an upper base plate, and a lower base plate. Six sets of walking legs are connected between the parallel and fixed upper and lower base plates. The power supply, controller, and the six sets of walking legs are connected by wires. The six sets of walking legs are arranged in two symmetrical rows. Each set of walking legs has the same shape. Each set of walking legs includes a servo mount, a first servo, a second servo, a thigh, and a lower leg. The servo mount is mounted between the upper and lower base plates. The first servo and the thigh are fixedly mounted on the servo mount. The first servo's output shaft is fixedly connected to the upper base plate. One side of the thigh is fixedly connected to the second servo's output shaft. The second servo is fixedly connected to the lower leg.

[0010] In the above technical solution, the thigh is a flat plate perpendicular to the lower base plate, and the calf is an angular plate that forms a figure-7 shape with the thigh.

[0011] In the above technical solution, the outer shell includes a front end, a rear end, and a top end that are fixedly connected. The front end, rear end, and top end are all manufactured using 3D printing technology, and they are all connected to the upper base plate.

[0012] The above technical solution also includes a camera, a humidity sensor, and an air quality sensor that are electrically connected to the controller.

[0013] The above technical solution also includes an independent, visualized control platform, and the controller is equipped with a 4G or 5G communication module for communicating with the control platform.

[0014] In the above technical solution, the control platform includes a mobile control module, an image transmission module, a video transmission module, a fixed-point task execution module, a cluster control module, a data collection module, a data push module, and a voice module. The mobile control module is used for omnidirectional mobile control of the walking mechanism; the image transmission module is used for neural visual annotation and classification of images captured by the camera and transmitted back to the server; the video transmission module is used for real-time display and transmission of video footage captured by the camera; the fixed-point task execution module is used for setting fixed-point task execution commands; the cluster control module is used for batch control of two or more robots to work together; the data collection module is used for collecting data from humidity sensors and air quality sensors; the data push module is used to push data results to WeChat after completing a specified task; and the voice module provides voice prompts when tasks are issued and after tasks are completed.

[0015] In the above technical solution, the outer shell is made of PLA material.

[0016] In the above technical solution, the power supply is installed on the upper surface of the upper base plate, and the power supply is a 12V 18650 battery pack.

[0017] In the above technical solution, the servo mount includes a horizontal plate and a vertical plate that are perpendicularly connected to each other. The horizontal plate is set at the top of the vertical plate. Mounting holes are provided on both the horizontal plate and the vertical plate. The first servo and the thigh are fixedly installed through the mounting holes. The thigh is perpendicular to both the horizontal plate and the vertical plate. A pin is connected to the bottom end of the vertical plate. The pin is embedded in the corresponding pin hole on the lower base plate.

[0018] The walking control method of the Namib Desert Beetle Bionic Robot: The axis of rotation of the first servo motor is perpendicular to the bottom plate, and the axis of rotation of the second servo motor is perpendicular to the axis of rotation of the first servo motor; the middle set of the three groups of walking legs on the left and the front and rear sets of the three groups of walking legs on the right constitute Unit 1, and the remaining front and rear sets of walking legs on the left and the middle set of walking legs on the right constitute Unit 2.

[0019] When moving forward: Unit 1 remains stationary initially. In Unit 2, the second servo motor of each walking leg rotates, increasing the angle between the lower leg and thigh, causing the lower leg to leave the ground. Then, the first servo motor on the right side of Unit 2 rotates counterclockwise, and the first servo motor on the left side rotates clockwise, enabling the first servo motor, servo motor base, thigh, and lower leg to move forward. Subsequently, the second servo motor rotates, decreasing the angle between the lower leg and thigh, allowing the lower leg to contact the ground and bear gravity. Next, Unit 2 remains stationary, while Unit 1 moves. The second servo motor of each walking leg rotates, increasing the angle between the lower leg and thigh, causing the lower leg to leave the ground. Then, the first servo motor on the right side of Unit 1 rotates counterclockwise, and the first servo motor on the left side rotates clockwise, enabling the first servo motor, servo motor base, thigh, and lower leg to move forward. Subsequently, the second servo motor rotates, decreasing the angle between the lower leg and thigh, allowing the lower leg to contact the ground and bear gravity.

[0020] Unit 1 and Unit 2 alternately use telemetry to achieve forward movement of the robot; backward movement is achieved in the same way as forward movement.

[0021] When turning: When turning right, Unit 1 remains stationary. The second servo motor of the three sets of walking legs in Unit 2 works to increase the angle between the lower leg and the thigh, causing the lower leg to leave the ground. Then, the first servo motor of Unit 2 rotates counterclockwise. Next, the second servo motor moves to decrease the angle between the lower leg and the thigh, causing the lower leg to contact the ground and bear gravity. Unit 1 repeats the action of Unit 2. The two units move alternately to achieve a right turn. The same principle applies to left turns and right turns.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] This invention simulates the body structure and biological characteristics of the Namib Desert Beetle. The walking mechanism and shell are structurally designed to resemble the beetle's shape. A mechanical structure with six sets of legs makes the beetle more flexible, robust, and able to bear greater weight, resulting in greater stability during movement. The flexible mechanical structure and flexible materials allow for movement in various terrains and environments, providing better stability and adaptability, enabling safer human interaction and more realistic data processing. Artificial intelligence replaces manual detection for remote control, making operation simpler and more convenient, avoiding harm to humans, and saving significant time and manpower. This robot has broad application prospects in environmental monitoring, rescue operations, and environmental protection, enabling real-time monitoring and data collection of various environmental parameters. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of the nanofiber desert beetle biomimetic robot of the present invention.

[0026] Figure 2 This is a schematic diagram of the structure of the nanofiber desert beetle biomimetic robot of the present invention after omitting the outer shell.

[0027] Figure 3 This is a schematic diagram of the connection structure between a set of walking outriggers and the lower base plate.

[0028] Figure 4 This is a schematic diagram of the servo mount.

[0029] Reference numerals: 1-Power supply; 2-Upper base plate; 3-Lower base plate; 4-Servo mount; 41-Horizontal plate; 42-Vertical plate; 43-Pin shaft; 5-First servo; 6-Second servo; 7-Large leg; 8-Lower leg; 9-Front end of shell; 10-Rear end of shell; 11-Head of shell; 12-Camera; 13-Output shaft one; 14-Output shaft two; 15-Groove; 16-Extension connection end. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.

[0031] like Figure 1 As shown, this invention proposes a nanofiber desert beetle biomimetic robot, including a walking mechanism and a shell. The shell is mounted on the walking mechanism, and its shape is modeled after the shape of a nanofiber desert beetle. The walking mechanism includes a controller, a power supply 1, an upper base plate 2, and a lower base plate 3. Six sets of walking legs are connected between the upper base plate 2 and the lower base plate 3, which are fixed parallel to each other. The upper base plate 2 and the lower base plate 3 are fixedly connected by support rods on the front and rear sides, providing a support platform for the shell and the walking mechanism. The power supply 1, the controller, and the six sets of walking legs are connected by... The wires are connected separately; the six sets of walking legs are arranged in two symmetrical rows, and the external structure of each set of walking legs is the same. Each set of walking legs includes a servo mount 4, a first servo 5, a second servo 6, a thigh 7, and a lower leg 8. The servo mount 4 is installed between the upper base plate 2 and the lower base plate 3. The first servo 5 and the thigh 7 are fixedly installed on the servo mount 4. The output shaft 13 of the first servo 5 is fixedly connected to the upper base plate 2. One side of the thigh 7 is fixedly connected to the output shaft 14 of the second servo 6. The second servo 6 is fixedly connected to the lower leg 8.

[0032] To achieve real-time data collection of outdoor environmental parameters using robots instead of manual labor, while ensuring human safety, monitoring the environment, reducing pollution and ecological damage, and preventing natural disasters, this invention simulates the body structure and biological characteristics of the Namib Desert Beetle. The walking mechanism and shell are structurally designed to resemble the beetle's shape. A mechanical structure with six sets of walking legs is employed to make the beetle more flexible, robust, and able to bear more weight, resulting in greater stability during walking. The first servo motor 5 rotates relative to its output shaft 13. Due to the six sets of output shafts 13... Simultaneously, it is fixedly connected to the upper base plate 2. The six sets of first servo motors 5 rotate relative to the upper base plate 2. The first servo motors 5, servo motor bases 4 and thighs 7 rotate synchronously relative to the upper base plate 2. Thus, the thighs 7 drive the second servo motors 6 to rotate synchronously relative to the upper base plate 2. Since one side of the thigh 7 is fixedly connected to the output shaft 14 of the second servo motor 6, the second servo motor 6 rotates relative to its output shaft 14. The second servo motor 6, together with the lower leg 8, rotates relative to the thigh 7. Data is exchanged with the 12-channel servo motor control board through serial communication to complete the precise control of the rotation angle and direction of all servo motors, ultimately enabling the robot to move in various different gaits.

[0033] The nanofiber desert beetle biomimetic robot provided by this invention can replace humans in various surveying, testing, and experimental tasks, and is environmentally friendly. In arid regions and even desert environments, human surveys are difficult, and severe weather can affect the results and even endanger human life and property. In the inspection and analysis of environmental air pollution, human operation is time-consuming and labor-intensive. The nanofiber desert beetle biomimetic robot uses a flexible mechanical structure and flexible materials, allowing it to move in different terrains and environments, exhibiting better stability and adaptability. This makes the robot interact with humans more safely, saving humans significant time and labor costs, and resulting in more realistic data processing. Furthermore, it uses artificial intelligence to replace manual detection and enables remote control, reducing operating costs.

[0034] As a specific embodiment of the present invention, such as Figures 1-3 As shown, the thigh 7 is a flat plate perpendicular to the lower base plate 3, and the lower leg 8 is an angular plate forming a "7" shape with the thigh 7. Through the static structure of the thigh 7 and the lower leg 8 and their coordinated movement, the limb structure and gait of the Namib Desert Beetle are highly simulated. At the same time, the tip of the angular plate contacts the ground, and non-contact obstacle avoidance, obstacle crossing, and movement on uneven ground are achieved by using discrete ground support. It has strong adaptability to complex terrain and unpredictable environmental changes. Preferably, the bottom end of the angular plate is connected to a spherical foot, which better matches the gait trajectory of the lower leg 8, flexibly adapts to various terrains, ensures that each lower leg can contact the ground, and enhances the stability performance of the bionic robot.

[0035] The outer shell includes a fixedly connected front shell 9, rear shell 10, and head shell 11. The front shell 9, rear shell 10, and head shell 11 are all made using 3D printing technology. The front shell 9 and rear shell 10 are printed with multiple grooves 15 to simulate the most approximate shape of a biomimetic nanofiber desert beetle. The front shell 9, rear shell 10, and head shell 11 are all connected to the upper base plate 2. The front shell 9, rear shell 10, and head shell 11 are provided with supporting sides on both the left and right sides. They are spliced ​​with the upper base plate 2 through the supporting sides and reinforced with hot melt adhesive.

[0036] The nanofiber desert beetle biomimetic robot provided by this invention also includes a camera 12, a humidity sensor, and an air quality sensor electrically connected to the controller. The camera 12 can transmit the collected images and videos back to the server for neural visual annotation and classification. The humidity sensor and air quality sensor can collect environmental data information in real time. Other detection sensors, such as sensors for detecting sound and odor, can be added or replaced as needed to more accurately perceive the surrounding environment and objects. Furthermore, the biomimetic robot has a reserved expansion connection terminal 16. In actual implementation, an expansion module can be mounted on the expansion connection terminal 16 according to the functions and tasks of the biomimetic robot.

[0037] As a preferred embodiment of the present invention, the nanofiber desert beetle biomimetic robot of the present invention includes an independent and visualized control platform. The controller is equipped with a 4G or 5G communication module for communicating with the control platform. When operating near the ground, it adopts WiFi local control, and when operating remotely, it adopts a 4G or 5G communication module.

[0038] The control platform includes a mobile control module, an image transmission module, a video transmission module, a fixed-point task execution module, a cluster control module, a data collection module, a data push module, and a voice module. The mobile control module provides omnidirectional mobile control for the walking mechanism; the image transmission module performs neural visual annotation and classification on images captured by the camera and transmitted back to the server; the video transmission module displays and transmits video footage captured by the camera in real time; the fixed-point task execution module sets fixed-point task execution commands; the cluster control module controls two or more robots to work in groups; the data collection module collects data from humidity and air quality sensors; and the data push module pushes data results to WeChat after completing a specified task. The voice module is used for issuing and receiving voice commands when tasks are assigned and completed. A voice prompt will then be given. Traditional bionic robot control methods mostly use remote controls, Wi-Fi, and Bluetooth. These methods are not only limited by distance but also cannot integrate functions for operation, nor can they achieve centralized or group control; they can only perform single-unit control. To achieve remote control, we have combined 5G mobile networks and developed an independent control platform that integrates functions, enables data visualization, and combines data transmission, image transmission, and control. Compared to traditional control methods, using an integrated operating platform not only saves time but also makes control more convenient. To enable a large number of nanofiber desert bionic robots to cooperate with each other, the control platform has a separate control option, which can control the corresponding robot according to its number. This allows multiple robots to be controlled in batches without switching back and forth.

[0039] As a specific embodiment of the present invention, the control platform is implemented using a Raspberry Pi control system.

[0040] As a preferred embodiment of the present invention, the outer shell is made of PLA material, which is not only green and environmentally friendly, but also has good mechanical and physical properties. It is also a new type of biodegradable material that can be 3D stacked printing, which is fast and conducive to efficient production.

[0041] As a specific embodiment of the present invention, such as Figure 2 As shown, power supply 1 is installed on the upper surface of the upper base plate 2. Power supply 1 is a 12V 18650 battery pack with a battery life of more than 5 hours.

[0042] As a preferred embodiment of the present invention, such as Figure 3 and Figure 4As shown, the servo mount 4 includes a horizontal plate 41 and a vertical plate 42 that are perpendicularly connected to each other. The horizontal plate 41 is located at the top of the vertical plate 42. Both the horizontal plate 41 and the vertical plate 42 have mounting holes. The first servo 5 and the thigh 7 are fixedly installed through the mounting holes. The thigh 7 is perpendicular to both the horizontal plate 41 and the vertical plate 42. The bottom end of the vertical plate 42 is connected to a pin 43, which is embedded in the corresponding pin hole on the lower base plate 3.

[0043] The walking principle of the nanofiber desert beetle biomimetic robot of the present invention is as follows: When working, the axis of rotation of the first servo motor 5 is perpendicular to the bottom plate, and the axis of rotation of the second servo motor 6 is perpendicular to the axis of rotation of the first servo motor 5; the middle set of the three groups of walking legs on the left and the front and rear sets of the three groups of walking legs on the right constitute Unit 1, and the remaining front and rear sets of walking legs on the left and the middle set of walking legs on the right constitute Unit 2.

[0044] When moving forward: Unit 1 remains stationary initially. In Unit 2, the second servo motor 6 of each walking leg rotates, increasing the angle between the lower leg 8 and the thigh 7, causing the lower leg 8 to leave the ground. Then, the first servo motor 5 on the right side of Unit 2 rotates counterclockwise, and the first servo motor 5 on the left side rotates clockwise, enabling the first servo motor 5, servo motor base 4, thigh 7, and lower leg 8 to move forward. Subsequently, the second servo motor 6 rotates, decreasing the angle between the lower leg 8 and thigh 7, allowing the lower leg 8 to contact the ground and bear gravity. Then, Unit 2 remains stationary while Unit 1 moves. The movement process of Unit 1 is consistent with that of Unit 2 (the second servo motor 6 of each walking leg rotates, increasing the angle between the lower leg 8 and thigh 7, causing the lower leg 8 to leave the ground. Then, the first servo motor 5 on the right side of Unit 1 rotates counterclockwise, and the first servo motor 5 on the left side rotates clockwise, enabling the first servo motor 5, servo motor base 4, thigh 7, and lower leg 8 to move forward. Subsequently, the second servo motor 6 rotates, decreasing the angle between the lower leg 8 and thigh 7, allowing the lower leg 8 to contact the ground and bear gravity).

[0045] The robot moves forward by alternating telescopic movements of Unit 1 and Unit 2; backward movement follows the same principle as forward movement.

[0046] When turning: When turning right, Unit 1 remains stationary. The second servo motor 6 of the three sets of walking legs in Unit 2 operates, increasing the angle between the lower leg 8 and the thigh 7, causing the lower leg 8 to leave the ground. Then, the first servo motor 5 of Unit 2 rotates counterclockwise. Next, the second servo motor 6 moves, decreasing the angle between the lower leg 8 and the thigh 7, causing the lower leg 8 to contact the ground and bear gravity. Unit 1 repeats the action of Unit 2. The two units move alternately to achieve a right turn. The left turn is similar to the right turn.

[0047] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A biomimetic robot inspired by the desert beetle made of nanocloth, characterized in that, The device includes a walking mechanism and a shell. The shell is mounted on the walking mechanism and its shape is similar to that of a desert beetle. The walking mechanism includes a controller, a power supply (1), an upper base plate (2), and a lower base plate (3). Six sets of walking legs are connected between the upper base plate (2) and the lower base plate (3), which are fixed in parallel to each other. The power supply (1), the controller, and the six sets of walking legs are connected by wires. The six sets of walking legs are arranged in two symmetrical rows, and each set of walking legs has the same shape. Each of the outriggers includes a servo mount (4), a first servo (5), a second servo (6), a thigh (7), and a lower leg (8). The servo mount (4) is installed between the upper base plate (2) and the lower base plate (3). The first servo (5) and the thigh (7) are fixedly installed on the servo mount (4). The first output shaft (13) of the first servo (5) is fixedly connected to the upper base plate (2). One side of the thigh (7) is fixedly connected to the second output shaft (14) of the second servo (6). The second servo (6) is fixedly connected to the lower leg (8).

2. The nanofiber desert beetle biomimetic robot according to claim 1, characterized in that, The thigh (7) is a flat plate perpendicular to the lower base plate (3), and the calf (8) is an angular plate that forms a 7-shaped structure with the thigh (7).

3. The nanofiber desert beetle biomimetic robot according to claim 1, characterized in that, The outer shell includes a front end (9), a rear end (10), and a head (11) that are fixedly connected. The front end (9), the rear end (10), and the head (11) are all made using 3D printing technology. The front end (9), the rear end (10), and the head (11) are all connected to the upper base plate (2).

4. The nanofiber desert beetle biomimetic robot according to claim 1, characterized in that, It also includes a camera (12) electrically connected to the controller, a humidity sensor, and an air quality sensor.

5. The nanofiber desert beetle biomimetic robot according to claim 1, characterized in that, It also includes an independent, visualized control platform, the controller of which is equipped with a 4G or 5G communication module for communicating with the control platform.

6. The nanofiber desert beetle biomimetic robot according to claim 5, characterized in that, The control platform includes a mobile control module, an image transmission module, a video transmission module, a fixed-point task execution module, a cluster control module, a data collection module, a data push module, and a voice module. The mobile control module provides omnidirectional mobile control for the walking mechanism; the image transmission module performs neural visual annotation and classification on images captured by the camera and transmitted back to the server; the video transmission module displays and transmits video footage captured by the camera in real time; the fixed-point task execution module sets fixed-point task execution commands; the cluster control module controls two or more robots to work in groups; the data collection module collects data from humidity and air quality sensors; the data push module pushes data results to WeChat after completing a specified task; and the voice module provides voice prompts when tasks are assigned and after task completion.

7. The nanofiber desert beetle biomimetic robot according to claim 3, characterized in that, The outer shell is made of PLA material.

8. The nanofiber desert beetle biomimetic robot according to claim 1, characterized in that, The power supply (1) is installed on the upper surface of the upper base plate (2), and the power supply (1) is a 12V 18650 battery pack.

9. The nanofiber desert beetle biomimetic robot according to claim 1, characterized in that, The servo mount (4) includes a horizontal plate (41) and a vertical plate (42) that are perpendicularly connected to each other. The horizontal plate (41) is located at the top of the vertical plate (42). Mounting holes are provided on both the horizontal plate (41) and the vertical plate (42). The first servo (5) and the thigh (7) are fixedly mounted through the mounting holes. The thigh (7) is perpendicular to both the horizontal plate (41) and the vertical plate (42). The bottom end of the vertical plate (42) is connected to a pin (43). The pin (43) is embedded in the corresponding pin hole on the lower base plate (3).

10. A walking control method for a nanofiber desert beetle biomimetic robot, characterized in that, It is implemented by the nanocloth desert beetle biomimetic robot according to any one of claims 1-9, wherein the rotation axis of the first servo motor (5) is perpendicular to the bottom plate, and the rotation axis of the second servo motor (6) is perpendicular to the rotation axis of the first servo motor (5). The middle set of the three groups on the left and the front and rear sets of the three groups on the right constitute Unit 1; the remaining front and rear sets of the left and the middle set of the right constitute Unit 2. When moving forward: Unit 1 remains stationary initially. In Unit 2, the second servo motor (6) of each walking leg rotates, increasing the angle between the lower leg (8) and thigh (7), causing the lower leg (8) to leave the ground. Then, the first servo motor (5) on the right side of Unit 2 rotates counterclockwise, and the first servo motor (5) on the left side rotates clockwise, enabling the first servo motor (5), servo motor base (4), thigh (7), and lower leg (8) to move forward. Subsequently, the second servo motor (6) rotates, decreasing the angle between the lower leg (8) and thigh (7), causing the lower leg (8) to contact the ground and bear the weight. Force; then Unit 2 remains stationary while Unit 1 moves. The second servo motor (6) of each walking leg rotates, causing the angle between the lower leg (8) and thigh (7) to increase, and the lower leg (8) to leave the ground. Then the first servo motor (5) on the right side of Unit 1 rotates counterclockwise and the first servo motor (5) on the left side rotates clockwise, so that the first servo motor (5), servo motor base (4), thigh (7) and lower leg (8) move forward. Then the second servo motor (6) rotates, causing the angle between the lower leg (8) and thigh (7) to decrease, and the lower leg (8) contacts the ground to bear gravity. Unit 1 and Unit 2 alternately use telemetry to achieve forward movement of the robot; backward movement is achieved in the same way as forward movement. When turning: When turning right, Unit 1 remains stationary. The second servo motor (6) of the three sets of walking legs of Unit 2 works to increase the angle between the lower leg (8) and the thigh (7), causing the lower leg (8) to leave the ground. Then the first servo motor (5) of Unit 2 rotates counterclockwise. Then the second servo motor (6) moves to decrease the angle between the lower leg (8) and the thigh (7), causing the lower leg (8) to contact the ground and bear gravity. Unit 1 repeats the action of Unit 2. The two units move alternately to achieve a right turn. The left turn is the same as the right turn.

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