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Turning robot and turning method

A robot and right-turning technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of complex planning methods, high difficulty, and reduced performance of quadruped robots, and achieve the effect of convenient turning, not easy to fall over, and stable turning

Inactive Publication Date: 2017-09-08
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, the turning of quadruped robots is basically through gait planning. The planning method is complex and difficult, and will reduce the performance of quadruped robots.

Method used

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  • Turning robot and turning method
  • Turning robot and turning method

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Embodiment Construction

[0027] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0028] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

[0029] As introduced in the background, in the prior art, the turning of quadruped robots is basically through g...

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Abstract

The invention discloses a turning robot and a turning method; the turning robot comprises a machine rack; four corners of the machine rack are respectively provided with one leg; each leg has three swing degrees of freedom, respectively being side-sway hip joints, forward swing hip joints and forward swing knee joints; the two side-sway hip joints in the front are welded in the front end of the machine rack through a side-sway support I; the two side-sway hip joints in the rear are welded in the rear end of the machine rack through a side-sway support II; the swing direction of each side-sway hip joint is controlled by a side-sway hydraulic cylinder; one end of the side-sway hydraulic cylinder is connected with the side-sway support I or II, and the other end is connected with the side-sway hip joint; the swing direction of the forward swing hip joint is controlled by a forward swing hydraulic cylinder; one end of the forward swing hydraulic cylinder is connected on the side-sway hip joint, and the other end is connected on the thigh; the forward swing hydraulic cylinder can telescope so as to realize forward swing motions of the thighs; the forward swing motions of the knee joint is controlled by a knee hydraulic cylinder; the robot shank comprises a shank hydraulic cylinder, and the shank length can be controlled to telescope.

Description

technical field [0001] The invention discloses a turning robot and a turning method. Background technique [0002] At present, the realization of quadruped robot turning is basically through gait planning. The planning method is complicated and difficult, and will reduce the performance of quadruped robot. Contents of the invention [0003] In order to solve the technical problems existing only in the prior art, the invention discloses a turning robot and a turning method. The quadruped robot designed in the invention can realize turning by adjusting its own structure without complicated gait planning. [0004] The technical scheme that the present invention adopts is as follows: [0005] A turning robot, comprising a body support, one leg is provided on each of the four corners of the body support, and each leg has three swing degrees of freedom, namely side swing hip joint, forward swing hip joint and forward swing Knee joint; the two side swing hip joints at the front...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 马宗利马庆营张培强吕荣基王建明
Owner SHANDONG UNIV
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