Six-foot obstacle crossing robot with limb self-cutting function and control system thereof

Abstract

The invention discloses a six-foot obstacle crossing robot with a limb self-cutting function. The six-foot obstacle crossing robot comprises an overall bracket, two front feet, two middle feet, two rear feet, a front waist part and a rear waist part, wherein the front feet are provided with torsion springs and can be bent unilaterally; the middle feet are driven by a synchronous belt; the rear feet are provided with torsion springs and can be bent unilaterally; the front waist part and the rear waist part can rotate; the two front feet are connected to the front part of the overall bracket through a front bracket and the front waist part; the two middle feet are arranged on the two sides of the overall bracket; the two rear feet are connected to the rear part of the overall bracket through a rear bracket and the rear waist part; all the middle parts of the front feet, the middle feet and the rear feet are provided with unlocking mechanisms driven by thermo-sensitive liquid; and when the unlocking mechanisms receive a limb cutting instruction transmitted by a central processing unit, limb cutting action is executed, and the overall machine enters a cut-limb walking state. The six-foot obstacle crossing robot has the advantages that the obstacle crossing capacity is high, the complexity and the control difficulty of a system are reduced, the stability and the practicability are improved, whether the feet are trapped or not can be recognized, the robot can continuously walk after a limb is automatically cut, and the survival capacity is improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a hexapod obstacle-surmounting robot capable of cutting off limbs in a predicament and a control system thereof. Background technique [0002] Compared with wheeled robots, legged robots have better adaptability and obstacle avoidance walking ability on rough roads and harsh road conditions. Compared with crawler robots, footed robots have the characteristics of lighter weight, weaker coupling of walking mechanisms, and the ability to continue walking after a certain degree of freedom mechanism fails. Especially the hexapod robot has good road adaptability, high-speed maneuverability and walking stability, structural reliability, and can easily cross obstacles. It is widely used in dangerous area detection, disaster rescue and other fields. [0003] At present, many hexapod robots have appeared. These robots are generally driven by connecting rods and can achieve functions such as...

AI Technical Summary

Problems solved by technology

[0003] At present, many hexapod robots have appeared. These robots are generally driven by connecting rods, and can achieve functions such as obstacle surmounting, but it is difficult to overcome obstacles larger than their own height.

And the system is more complex and difficult to control

[0004] In addition, the hexapod robot RHEX with semi-circular legs developed by Boston Dynamics has good obstacle-surmounting ability, but when walking on rough roads, once a foot is stuck and cannot be disengaged, the whole robot will be in trouble

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