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Walking mechanism of multi-foot robot

A multi-legged robot and walking mechanism technology, applied in the field of mobile robots, can solve the problems of multi-legged robots such as driving, complex control, and difficult walking, and achieve the effects of enhancing obstacle-surpassing ability, reducing volume and weight, and reducing structure and driving

Pending Publication Date: 2019-02-26
屈娟娟
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among them, wheeled and tracked robots have high requirements on the ground, and it is difficult to walk on uneven ground, especially on ground with many obstacles; for uneven terrain, multi-legged robots can generally be realized through the height difference between different walking feet. Obstacle surmounting has better adaptability, but the drive and control of multi-legged robots are more complex and are still in the research stage

Method used

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  • Walking mechanism of multi-foot robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0022] now attached figure 1 As an example to illustrate the implementation process of the present invention:

[0023] 1. Assume that a walking foot is suspended in the air before the robot starts;

[0024] 2. Robot along figure 1 Moving in the forward direction shown in middle 7, with the movement of the track, the suspended walking foot will gradually move from the upper part of the track to the figure 1 Move the position shown in 5;

[0025] 3. The suspended walking foot gradually approaches the surrounding figure 1 When the position shown in middle 5, the walking foot attitude control device of the robot controls the walking foot to open;

[0026] 4. Walking feet fully reach the figure 1 In the position shown in middle 5, the walking foot posture control device of the robot tightens the walking foot and grasps the ground, poles or other robot supports;

[0027] 5. The track continues to move, and the walking foot gradually moves from the attached figure 1 The positi...

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Abstract

The invention belongs to the field of mobile robots and particularly relates to a walking mechanism of a multi-foot robot. The provided walking mechanism of the multi-foot robot comprises robot walking feet, a robot walking foot posture control device and a robot walking crawler belt, wherein each robot walking foot comprises three joints which are fixed to the robot walking crawler belt and can be controlled by the robot walking foot posture control device, and the robot walking feet have the function of providing a force for gripping the ground and supporting other supported objects; the robot walking foot posture control device is mainly used for controlling the walking feet to be opened for gripping in time. Instead of directly touching the ground, the robot walking crawler belt touches the ground through the walking feet fixed to the robot walking crawler belt to achieve forward and backward movement of a robot. The walking mechanism combines the characteristics of multi-foot walking and crawler-type walking, not only is the obstacle crossing capability improved, but also the structure and control complexity of the multi-foot robot is reduced, and the walking mechanism of themulti-foot robot has a significant meaning on the mobile robots under a complex environment.

Description

technical field [0001] The invention belongs to the field of mobile robots, in particular to a walking mechanism of a multi-legged robot. Background technique [0002] At present, walking robots are generally divided into wheeled robots, crawler robots, and multi-legged robots according to their moving modes. Among them, wheeled and tracked robots have high requirements on the ground, and it is difficult to walk on uneven ground, especially on ground with many obstacles; for uneven terrain, multi-legged robots can generally be realized through the height difference between different walking feet. Obstacle surmounting has better adaptability, but the drive and control of multi-legged robots are more complicated and are still in the research stage. Contents of the invention [0003] A multi-legged robot walking mechanism disclosed in the embodiment of the present invention combines the advantages of the crawler and the multi-legged robot, and adopts a structure in which the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 屈娟娟
Owner 屈娟娟
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