The invention provides a bionic self-adaptive anti-subsidence walking wheel and a control method thereof. The bionic self-adaptive anti-subsidence walking wheel comprises a walking wheel flange plate, walking wheel leg and foot single bodies, a pose sensing system and a controller. A plurality of walking wheel leg and foot single bodies are arranged on the walking wheel flange plate in the circumferential direction; each walking wheel leg and foot single body comprises a bionic tendon-bone cooperation mechanism and a bionic tendon driving mechanism; the bionic tendon driving mechanism can open and close the bionic tendon-bone cooperation mechanism; the pose sensing system is used for detecting a height signal from a walking wheel flange plate to the ground and transmitting the height signal to the controller; and the controller compares the height signal with a preset value and controls the bionic tendon driving mechanism to open and close the bionic tendon-bone cooperation mechanism according to a comparison result. Self-adaptive opening and closing of the toe web of the bionic walking wheel are achieved, the walking wheel leg and foot single body is simple in overall structure, the adaptability and application universality of the walking wheel are improved, and the walking wheel can be applied to a robot to improve the trafficability of the robot on the soft ground.
本发明提供一种仿生自适应抗沉陷步行轮及其控制方法,包括步行轮法兰盘、步行轮腿足单体、位姿感知系统和控制器;步行轮法兰盘沿圆周方向设有多个步行轮腿足单体;步行轮腿足单体包括仿生腱骨协同机构和仿生肌腱驱动机构;仿生肌腱驱动机构能够使仿生腱骨协同机构开闭;位姿感知系统用于检测步行轮法兰盘到地面的高度信号,并传递给控制器;控制器将高度信号与预设值进行对比,并根据对比结果控制仿生肌腱驱动机构使仿生腱骨协同机构开闭。本发明实现了仿生步行轮的趾蹼自适应开闭,步行轮腿足单体整体结构简单,提高了步行轮的适应性和应用的广泛性,应用于机器人上有利于提高其在松软地面的通过性。
Bionic self-adaptive anti-subsidence walking wheel and control method thereof
一种仿生自适应抗沉陷步行轮及其控制方法
14.01.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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