Quadruped robot based on bus

Abstract

The invention relates to the technical field of robots and particularly relates to a quadruped robot based on a bus. The robot comprises a robot body and four supporting legs arranged on the robot body, wherein a main controller and a lithium battery which are connected with each other are installed in the machine body, the main controller is connected with an EtherCAT bus, and leg motion controllers electrically connected with the EtherCAT bus are arranged on the supporting legs; hip joints, thigh joints and shank joints of the supporting legs are provided with hip joint control mechanisms used for controlling the hip joints to move, thigh joint control mechanisms used for controlling the thigh joints to move and shank joint control mechanisms used for controlling the shank joints to move respectively. The robot is advantaged in that the leg movement controllers are controlled to work through the main controller, then movement of the hip joints, the thigh joints and the shank joints of the supporting legs is controlled, meanwhile, the movement is controlled by the main controller through the EtherCAT bus, and all the movements are fast and flexible.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a bus-based quadruped robot. Background technique [0002] At present, there are three main modes of human transportation: air transportation, land transportation and river and sea transportation. The mobile modes of land transportation vehicles mainly include wheeled and tracked; wheeled vehicles have been used in human material transportation for thousands of years since their appearance, which greatly improves the efficiency of human material transportation and has made great contributions in the development of human civilization. made an immeasurable contribution. Due to the lack of adaptability of wheeled vehicles to terrain, tracked vehicles appeared with the development of modern science and technology. Compared with wheeled vehicles, the terrain adaptability of tracked vehicles has been greatly improved, and it can pass through complex terrain such as steep slopes, wide ...

AI Technical Summary

Problems solved by technology

Compared with other legged robots, quadruped robots have better trade-offs in terms of mechanical structure replication, stability, and movement speed; from the perspective of evolution, the quadruped movement is adopted by almost all terrestrial mammals , which shows that the quadruped movement method has a strong adaptability to the earth's terrain, and it also provides enough research samples for the research of quadruped robots. Therefore, the quadruped movement method has become a research hotspot; at present In the research of quadruped robots, their poor flexibility and large size have become the current big problems

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