Bionic quadruped robot based on flexible spine technology

Abstract

The invention discloses a bionic quadruped robot based on a flexible spine technology. The bionic quadruped robot includes a head environment sensing module, a control and communication module, a flexible spine, and supporting legs; the bionic quadruped robot can realize difficult movement, such as large stride running, pivot steering, and the like, of an existing quadruped robot through the flexible spine and the cooperative action of corresponding control, due to the action of the flexible spine, the robot can make a trunk more stable through circulation transformation between elastic potential energy of a spring and kinetic energy of the front leg and the rear leg, motion instability caused by inertia of a body in complex terrain is reduced, and stability is improved. Movement performance, the environment sensing module, and the robot control and communication module are further combined, and the functions of autonomous obstacle avoidance and path planning of the quadruped robot can be realized.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a bionic quadruped robot based on flexible spine technology. Background technique [0002] Legged robots are currently a hotspot in the field of robotics research. Legged robots are mainly divided into biped robots, quadruped robots and multi-leg robots. Among them, the series of robot dogs developed by Boston Dynamics represent a higher level of quadruped robots. However, the current research on quadruped robots mainly focuses on leg movement and control, and the torsos of most quadruped robots are rigid body structures. [0003] Patent document CN201711260907.1 discloses "an electric-driven quadruped robot with high load capacity that can adapt to complex and rugged terrain", which adopts a motor-driven quadruped robot structure with 12 degrees of freedom, and its torso is three metal rods and two front and rear The structural form of plate girder assembly and fixing is a rela...

AI Technical Summary

Problems solved by technology

However, unlike animals with only one flexible spine, this patent has six retractable and rotating parallel mechanisms cross-arranged. The structure is large in size, redundant and complex in control, and is not suitable for quadruped robots that need high-speed running.

[0005] At present, the torso of most quadruped robots is a rigid body structure. To increase the running speed of a quadruped robot, the motor torque of the robot must be increased, but the torque of the motor is positively correlated with the volume and weight of the motor. It is difficult to increase the running speed of a quadruped robot without a substantial increase

At the same time, the quadruped robot with a rigid torso is not flexible enough to turn and adapt to the environment, and it is easy to lose stability and fall when walking or running on rough roads.

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