A quadruped walking robot and its walking method

Abstract

The invention relates to a quadruped walking robot and its walking method, comprising a main body, on which outer foot components are mounted symmetrically left and right, an auxiliary body is installed in the middle of the main body, and inner foot components are mounted symmetrically on the auxiliary body; two groups The inner foot components are located inside the two sets of outer foot components, forming a quadruped for robot walking; the two sets of inner foot components move back and forth synchronously with respect to the auxiliary body under the drive of power, and the two sets of outer foot components move synchronously with respect to the main body under the drive of power. Front and rear movement: through the alternate forward or backward movement of the outer foot assembly and the inner foot assembly, the robot can walk forward or backward, and can also realize the steering of the robot walking by cooperating with the rotation of the auxiliary body relative to the main body in the horizontal plane , to complete the curved motion; the invention imitates the human biped action to realize the walking and turning or curved motion of the robot, greatly simplifies the mechanical structure of the legged robot, effectively reduces the weight, has high walking flexibility and good practicability.

Description

technical field [0001] The invention relates to the technical field of walking robots, in particular to a quadruped walking robot and its walking method. Background technique [0002] 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 they walk on needs to be continuous and flat, so it is difficult to adapt to unknown complex conditions. Road surface; crawler robots have low flexibility due to the large turning radius during movement; while footed robots walk with their "legs" in intermittent contact with the ground, so they can flexibly cross rough terrain Obstacles, with a high ability to overcome obstacles, to meet the requirements of movement in complex unstructured terrain environments. [0003] In the prior art, legged robots can be classified according to the number of "legs" from few to many: biped robots...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, legged robots can be classified according to the number of "legs" from few to many: biped robots, quadruped robots, and multi-legged (the number of "legs" is more than four) robots, etc.; among them, biped robots The robot is mainly designed to imitate the human body structure, its appearance and movement form are closer to human beings, 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 Compared with the biped robot, the multi-legged robot has a certain improvement in the movement ability on rough terrain, but its structure is complex, the speed is slow, and the body is large. It is difficult to overcome obstacles in narrow spaces. Low flexibility; and quadruped robots are usually designed to imitate the body structure of four-legged mammals in nature (such as cheetahs, dogs and horses, etc.), which have excellent performance in terms of moving speed and environmental adaptability , but the existing quadruped robots are not only complex in mechanical structure, but also complex in control, large in size and weight, and relatively cumbersome

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