The invention discloses a potential energy adjusting bionic shell for autonomous recovery of a lateral-falling posture of a quadruped robot. The potential energy adjusting bionic shell comprises an upper arc rod piece, a lower arc rod piece and a robot body connecting structure. Contour arcs of the two arc rod pieces are tangentially connected. A specific action process of the bionic shell comprises the steps of lateral-falling front posture, lateral-falling sub-process, upper arc recovery sub-process, lower arc recovery sub-process and initial standby state, and potential energy and kinetic energy changes in the rolling action process of a robot body are adjusted through contour shape characteristics of the bionic shell to guide the robot body posture to be adjusted to stable recovery. The autonomous recovery method comprises twelve modes, wherein six modes can achieve posture recovery only depending on the gravitational moment effect, and external force needs to be provided for the six modes by means of robot leg and foot joints. Lateral protection can be provided for the robot body, and the quadruped robot can recover to stand from the lateral falling posture under the assistance of power of legs and feet of the robot.
本发明公开了一种面向四足机器人侧倒姿态自主恢复的势能调节仿生外壳,包括:上圆弧杆件、下圆弧杆件、机身连接结构;其中两个圆弧杆件的轮廓圆弧相切连接。该仿生外壳具体作用过程,包括侧倒前姿态、侧向摔倒子过程、上圆弧恢复子过程、下圆弧恢复子过程、初始待机状态,通过自身轮廓形状特征来调节机身滚动动作过程中的势能和动能变化,来引导机身姿态向稳定恢复的趋势调整。其自主恢复方法包括十二模式,其中六种模式可以实现仅依靠重力矩作用完成姿态恢复,六种模式需借助机器人腿足关节提供外力。本发明既可以为机器人机身提供侧向保护,也可在机器人腿足动力的协助下,共同实现四足机器人由侧向跌倒姿态恢复站立。
Potential energy adjusting bionic shell for autonomous recovery of lateral-falling posture of quadruped robot
面向四足机器人侧倒姿态自主恢复的势能调节仿生外壳
2020-12-15
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |