Quadruped robot

Abstract

The embodiment of the invention provides a quadruped robot. The robot comprises a robot body, four leg assemblies and abduction rotating joints, each leg assembly is rotationally connected to the robot body through one abduction rotating joint, and the four leg assemblies are symmetrically arranged along the left side and the right side of the robot body; each abduction rotating joint comprises afirst support, a second support, a first motor and a first torque sensor; the first support is fixedly mounted on the machine body; the second support is rotationally mounted on the machine body; thefirst motor is fixedly installed on the first support, and the output end of the first motor is connected with the second support through the first torque sensor and can drive the second support to swing around the first axis. The first axis is the axis where the second support is rotationally connected with the fuselage; the first torque sensor is used for collecting output torque transmitted tothe second support by the output end of the first motor; the leg assembly is installed on the second support and can swing in the left-right direction of the machine body along with swing of the second support.

Description

technical field [0001] The present application relates to the technical field of robots, in particular to a quadruped robot. Background technique [0002] Existing mobile robots are mainly divided into several types such as wheeled, crawler and footed. Among them, wheeled robots have higher requirements on the flatness of the ground during the movement process, and the ground to be walked is continuous and flat, so it is difficult to adapt to unknown conditions. Complex road surface; crawler robots have low flexibility due to the large turning radius during movement; footed robots use "legs" to make intermittent contact with the ground, so they can flexibly cross over rugged obstacles. It has a high ability to overcome obstacles and meets the requirements for movement in complex unstructured terrain environments. [0003] According to the number of "legs", legged robots can be divided into: bipedal robots, quadrupedal robots, and multi-legged (the number of "legs" is more t...

AI Technical Summary

Problems solved by technology

[0002] Existing mobile robots are mainly divided into several types such as wheeled, crawler and footed. Among them, wheeled robots have higher requirements on the flatness of the ground during the movement process, and the ground to be walked is continuous and flat, so it is difficult to adapt to unknown conditions. Complex road surface; crawler robots have low flexibility due to the large turning radius during movement; footed robots use "legs" to make intermittent contact with the ground, so they can flexibly cross over rugged obstacles. It has a high ability to overcome obstacles and meets the requirements of movement in complex unstructured terrain environments

[0003] According to the number of "legs", legged robots can be divided into: bipedal robots, quadrupedal robots, and multi-legged (the number of "legs" is more than four) robots; among them, bipedal robots are mainly imitated by human The body structure design of the multi-legged robot is similar to that of humans in appearance and movement, but the performance of speed, load and stability is poor; the multi-legged robot is mainly designed to imitate the body of reptile insects, and its structure and movement characteristics are similar to those of human beings. Reptile insects are relatively close, and the movement ability of multi-legged robots on rough terrain is improved to a certain extent compared with biped robots, but its structure is complex, the speed is slow, the body is large, and the flexibility to overcome obstacles in narrow spaces is low; The quadruped robot is designed to imitate the body structure of quadruped mammals in nature (such as cheetahs, dogs and horses, etc.), and it has excellent performance in terms of moving speed and environmental adaptability. It can not only overcome the influence of complex terrain on the stability of the robot, but also realize high-speed movement under dynamic conditions, which is very suitable for working in complex unstructured terrain environments.

[0004] Existing quadruped robots usually drive the "legs" directly through the power unit during the movement process. Usually, the current loop signal of the servo motor is used to output to each moving part (such as the thigh, calf and each connection) joints, etc.) to directly control the driving torque, but when the servo motor is equipped with a reducer, due to the influence of mechanical efficiency, return error and assembly error (such as clearance, etc.), the current loop signal directly passing through the servo motor cannot The precise control of the driving torque of each moving part will inevitably lead to inaccurate control of the quadruped robot, and it is difficult to meet the requirements of the mechanical characteristics, control performance and dynamic characteristics of the quadruped robot.

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