Structurally-detachable foot type robot based on central pattern generator and control method

A pattern generator and robot technology, applied in the direction of attitude control, control/adjustment system, non-electric variable control, etc., can solve the problems of fixed structural position, low penetration rate, non-disassembly and assembly, etc., and achieve the effect of improving the degree of freedom

Active Publication Date: 2021-11-23
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, most of the legged robots currently on the market are designed to be non-detachable, with a fixed structural position, and a single fixed function.
This makes users have great limitations when using this type of robot. They cannot flexibly modify the structure or parameters of the robot according to their needs. Even the legged robots that can realize the above functions are generally expensive and have a low penetration rate.

Method used

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  • Structurally-detachable foot type robot based on central pattern generator and control method
  • Structurally-detachable foot type robot based on central pattern generator and control method
  • Structurally-detachable foot type robot based on central pattern generator and control method

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Embodiment Construction

[0036] Embodiments of the present invention are described in detail below, and the embodiments are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0037] The present invention will be further described below in conjunction with the accompanying drawings.

[0038] like figure 1 As shown, the present invention is a low-cost structure detachable legged robot based on a central mode generator, including an orthogonal slide rail connecting plate 1, four steering gear mounts 2, and four metal toothed steering gears 3. Four replaceable mechanical legs with bending area structure 4, two microphone pickups 5, one ultrasonic sensor 6, one controller 7, power supply 8, and several wires.

[0039] like image 3 As shown, the lower surface of the connecting plate 1 of the orthogonal slide rail is provided with an orthogonal trapezoidal chute, which is in the form of a checkerboard. transition fit. For the walking...

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Abstract

The invention discloses a low-cost structurally-detachable foot type robot based on the central pattern generator and the control method, a robot body is manufactured through 3d printing, and the manufacturing cost is low. The robot motion gait is based on the principle of a bionic central pattern generator, and stable and phase-locked rhythm control signals can be generated; and the relative position of the steering engine mounting seat can be freely changed according to requirements through the orthogonal sliding rail connecting plate. The four bent legs and four steering engine mounting bases of the robot are detachably mounted, the legs with different lengths and shapes can be replaced according to needs so as to complete various action tasks; meanwhile, a sound pickup device and an ultrasonic sensor are mounted on the body of the robot and used for interaction between the robot and the environment, and specific functions are achieved.

Description

technical field [0001] The invention relates to a robot application platform, which belongs to the field of robot control, and in particular to a structurally detachable legged robot based on a central mode generator and a control method. Background technique [0002] In nature, all kinds of creatures have evolved amazing abilities and characteristics to adapt to the complex and changeable living environment. These excellent biological properties provide various inspirations for human creation and design. By learning and imitating the characteristics and functions of certain creatures, humans can improve their ability to adapt and transform nature. Therefore, in recent years, research on bionic robots has attracted widespread attention. In the field of bionic control, the motion control method based on the central pattern generator has been widely used because of its superior performance, and has become a research hotspot in the field of bionic control. This stable phase-...

Claims

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Application Information

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IPC IPC(8): B62D57/032G05D1/08
CPCB62D57/032G05D1/0891
Inventor 向平宇王越陈词陆豪健熊蓉
Owner ZHEJIANG UNIV
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