Dry adhesion and claw combined quadruped multiphibious robot and bionic motion method

Abstract

The invention provides a dry adhesion and claw combined quadruped multiphibious robot and a bionic motion method and belongs to the field of robots. A body main body of the dry adhesion and claw combined quadruped multiphibious robot comprises a front foot supporting frame (3), N series-connected body Z-axis steering engines and a rear foot supporting frame (18); a head neck structure comprises ahead Y-axis steering engine (2) and a camera (1); a tail structure comprises a tail X-axis steering engine (26), a tail X-axis steering engine U-shaped connecting piece (27), M series-connected tail Z-axis steering engine and a tail fin (31); and each foot structure consists of a foot Y-axis steering engine, a supporting foot, a paddle, a claw and a dry adhesion material. The dry adhesion and clawcombined quadruped multiphibious robot can satisfy self-adaptive requirements of a non-structural topographic water surface-land surface under a natural environment; and meanwhile, the dry adhesion and claw combined quadruped multiphibious robot can adopt dry adhesion to perform large slope wall surface climbing on a smooth surface and can also adopt the claw to perform large slope wall surface climbing on a rough surface; and the dry adhesion and claw combined quadruped multiphibious robot can be used as a dry adhesion and claw four-wheel-foot-paddle-driven multiphibious robot on an all terrain multiphibious cross-country mobile platform under the natural environment.

Description

technical field [0001] The invention belongs to the application field of robot technology, and in particular relates to a quadruped multi-dwelling robot combined with dry adhesion and claws and a bionic movement method thereof, which is mainly used as an all-terrain multi-dwelling mobile platform in a natural environment. Background technique [0002] Robots that adapt to various complex environments on land and water are one of the most cutting-edge topics in the field of robot research today. It integrates many disciplines such as machinery, electronics, computers, materials, sensors, control technology and artificial intelligence, and reflects the intelligence of a country. At the same time, as an important symbol of a country's high-tech strength, developed countries have invested heavily in research in this field. [0003] The footed robot can climb slopes on complex ground, and can adjust the combination of front and rear end high and low body movements to meet the req...

AI Technical Summary

Problems solved by technology

[0005] A single wheel foot, foot hook, adhesive track and other robots have limited functions, and a quadruped polyhedric robot with a combination of dry adhesion and hook claws and its bionic locomotion have not been reported, nor have they been studied.

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