The invention discloses a hybrid power bouncing robot facing a slippery ground. The hybrid power bouncing robot comprises a trunk, spring legs, an optimal controller, an inertial measurement unit, hip joints, a plurality of propelling devices and rotating joints of the propelling devices. The trunk is connected with the spring leg through the hip joint, the hip joint is located in the center of the trunk, the spring leg is a telescopic joint, the inertia measurement unit and the optimal controller are fixedly connected with the trunk, the propelling device is connected with the corresponding rotating joint, the rotating joint is connected with the trunk, and the inertia measurement unit is connected with the optimal controller. And the inertial measurement unit, the propelling device, the rotational joint of the propelling device, the spring leg and the hip joint are electrically connected with the optimal controller. The problem that the bouncing robot slips on the easily slippery ground is solved, and the bouncing robot has the advantages of being simple in structure, stable in bouncing, high in anti-interference capacity and easy to achieve.
本发明公开了一种面向易滑地面的混合动力弹跳机器人,包括:躯干、弹簧腿、最优控制器、惯性测量单元、髋关节、多个推进装置及其转动关节;所述躯干与弹簧腿通过髋关节进行连接,所述髋关节位于躯干的中心,所述弹簧腿为伸缩关节,所述惯性测量单元和最优控制器分别与躯干固定连接,所述推进装置与其对应的转动关节连接,所述转动关节与躯干连接,所述惯性测量单元、推进装置及其转动关节、弹簧腿和髋关节与最优控制器电连接。本发明解决了弹跳机器人在易滑地面打滑的问题,具有构造简单、弹跳稳定、抗干扰能力强和容易实现的特点。
Hybrid power bouncing robot facing easily-slippery ground and control method of hybrid power bouncing robot
一种面向易滑地面的混合动力弹跳机器人及其控制方法
2024-03-19
Patent
Elektronische Ressource
Chinesisch