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Four-leaf clover shaped adjustable rigidity supple spine for quadruped robot

A quadruped robot and four-leaf clover technology, which is applied in the field of flexible spine, can solve the problem of unable to make full use of quadrupeds, and achieve the effect of improving flexibility

Inactive Publication Date: 2015-09-02
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The bionic quadruped robot platform with rigid body cannot make full use of the important function of quadrupeds---the role of spine in running animals

Method used

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  • Four-leaf clover shaped adjustable rigidity supple spine for quadruped robot
  • Four-leaf clover shaped adjustable rigidity supple spine for quadruped robot
  • Four-leaf clover shaped adjustable rigidity supple spine for quadruped robot

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Embodiment Construction

[0012] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0013] The overall structure of the spine with adjustable stiffness is attached figure 1 The flexible spine with adjustable stiffness includes an elastic member 1 made of elastic material that is easy to produce elastic deformation, a rigid member 2 made of rigid material, tension ropes 3a and 3b in the pitch direction, tension ropes 3c and 3d in the deflection direction, wherein the elastic The member 1 and the rigid member 2 are both four-leaf clover cross-sectional shapes and arranged alternately, and there are four rope holes 4a, 4b, 4c and 4d at the four leaflets of the four-leaf clover structure shape, and the four ropes are along the The direction in which the elastic member 1 and the rigid member 2 are arranged is arranged, one end of which is fixed at the end of the spine, and the other end extends to the front end of the spine through the rope holes...

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Abstract

A four-leaf clover shaped adjustable rigidity supple spine for a quadruped robot comprises elastic members, rigid members, tensioning ropes of pitching direction and tensioning ropes of deflecting direction. The elastic members and the rigid members which all are of four-leaf clover section shapes are arranged alternately, and reeving holes are arranged in the lobes of the four-leaf clover structures. The tensioning ropes are arranged along the spine, one end of each rope is fixed at the tail end of the spine, and the other end penetrates the reeving hole and extends to the front end of the spine. Chamfered edges for allowing extrusion generated by the effect of axial direction tensioning on the elastic members are arranged at the rigid members along the radial direction. By respectively changing tensioning degrees of the tensioning ropes of pitching direction and the tensioning ropes of deflecting direction, rigidity of the supple spine at pitching direction and deflecting orthogonal two-dimensional direction can be adjusted. By designing a rigid trunk of the conventional legged robot into the four-leaf clover shaped adjustable rigidity supple spine, dynamic motion performance of the robot can be improved.

Description

technical field [0001] The invention relates to a compliant spine for a quadruped robot, in particular to a compliant spine imitating the shape of a four-leaf clover with adjustable stiffness and direction. Background technique [0002] From the perspective of the development of quadruped robots, the research on quadruped robots is gradually developing in the direction of high performance, high speed and bionics. The torsos of existing quadruped robots are mainly rigid bodies, and most of the research at home and abroad is still focused on quadruped robots with rigid body structures. BigDog, produced by Boston Dynamics, is the highest achievement of quadruped robots. It can adapt to various terrains such as ice, snow, grass, etc., and shows super strong ability to resist lateral disturbances. Although a SQ43 quadruped robot produced by the University of Tokyo in Japan has a compliant spine, it is too compliant and does not play the basic role of the spine's elastic power as...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 张秀丽吴海波鄂明成谷小旭龚加庆
Owner BEIJING JIAOTONG UNIV
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