The invention belongs to the technical field of walking of multi-legged robots, and particularly relates to a three-legged and four-legged mixed gait walking method of a five-legged robot. The five walking feet are arranged on the two sides of a robot body in the walking direction of the robot, three walking feet are arranged on one side and marked as the walking foot A1, the walking foot A2 and the walking foot A3 from front to back, two walking feet are arranged on the other side and marked as the walking foot B1 and the walking foot B2 from front to back, and the walking feet on the two sides are arranged at intervals. The five walking feet are divided into three groups for cooperative action, and a walking foot A3 and a walking foot B1 are in one group and are marked as a first cooperative pair foot; the walking feet A2 are independently in one group and are marked as second cooperative feet; the walking foot A1 and the walking foot B2 form a group and are marked as a third cooperative pair foot; the advancing striding sequence of the robot is that the first cooperative foot pair, the second cooperative foot pair and the third cooperative foot pair circularly act; the backward stepping sequence is that the third cooperative foot pair, the second cooperative foot pair and the first cooperative foot pair circularly act; and compared with a hexapod robot, the walking efficiency is not changed.
本发明属于多足机器人行走技术领域,具体涉及一种五足机器人三足四足混合步态行走方法;五条行走足按机器人行走方向布置于机器人机身两侧,一侧布置三条行走足,从前到后标记为行走足A1、行走足A2、行走足A3,另一侧布置两条行走足,从前到后标记为行走足B1、行走足B2,两侧行走足间隔布置;五条行走足分成三组协同动作,其中行走足A3和行走足B1为一组,标记为第一协同对足;行走足A2单独为一组,标记为第二协同足;行走足A1和行走足B2为一组,标记为第三协同对足;机器人前进跨步顺序为第一协同对足、第二协同足、第三协同对足循环动作;后退跨步顺序为第三协同对足、第二协同足、第一协同对足循环动作;相比六足类机器人其行走效率不变。
Three-foot and four-foot mixed gait walking method for five-foot robot
一种五足机器人三足四足混合步态行走方法
2023-12-08
Patent
Elektronische Ressource
Chinesisch
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