Eight-legged robot with bionic rigid-flexible coupling legs and control method

Abstract

The invention provides an eight-legged robot with bionic rigid-flexible coupling legs and a control method. The search and rescue robot comprises a machine frame, a machine shell, the rigid-flexible coupling legs, a control processing module, a sensing unit, a wireless transmission module, a motor driving module and a power module, eight rigid-flexible coupling legs with a same structure are arranged, a first left leg, a second left leg, a third left leg and a fourth left leg are installed on the left side of the machine frame, and a first right leg, a second right leg, a third right leg and a fourth right leg are installed on the right side of the machine frame and each comprises a rigid segment, a joint shaft, a foot, a torsion spring, a linear driver, a connecting piece and a spring steel sheet. The control method comprises a step length control method, a step frequency control method, a height control method, a rack and rigid-flexible coupling leg coordination control method, a stable climbing gait control method and a tunnel passing gait control method. According to the eight-legged robot, the rigid segments and the flexible spring steel sheets are combined, and the eight-legged robot has the advantages of being compact in structure, light, self-adaptive, flexible and the like and can be used for tasks such as search and rescue and detection.

Description

Technical field [0001] The present invention belongs to and robotics, sensing technology, computer science, control science, human-computer interaction, the intersection of medical rehabilitation, particularly as a robot and a control having eight foot bionic Rigid coupling leg. Background technique [0002] An earthquake disasters occur frequently, post-disaster search and rescue work has been the focus of research scientists. Given the complexity of post-earthquake environment, such as a narrow gap and all kinds of rough terrain in ruins and other rescue workers formed difficult to enter the scene, rescue workers if blindly into the unknown in the interior of the building collapse case situation, will face a great dangerous and may cause secondary damage to the trapped workers. Therefore, the structure is compact, small, adaptable, mobile robot equipped with the environment and life detection sensors quickly into the collapse of the building, get first-hand information on the d...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is that the rigid search and rescue robot has poor adaptability and high control requirements, while the flexible search and rescue robot has weak carrying and moving capabilities. By applying the combination of rigid structure and flexible structure to the design of robot legs, combined A variety of gait control methods, and an eight-legged robot with bionic rigid-flexible coupled legs is proposed to realize functions such as movement detection in various complex environments

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