The invention belongs to the technical field of robots, and discloses a multi-motion-mode robot which comprises a trunk, a crawling leg assembly and a jumping assembly. The crawling leg assemblies are installed on the left front side, the right front side, the left rear side and the right rear side of the trunk respectively, and therefore the four-foot distributed crawling robot is formed. In cooperation with a gait control strategy, the multi-motion-mode robot can generate a collaborative motion mode similar to a biological limb, and compared with a biped or hexapod robot, the multi-motion-mode robot has better ground contact stability. A jumping assembly is arranged on the belly side of the trunk, and the multi-motion-mode robot can quickly advance or cross obstacles through a jumping control strategy. In addition, when the multi-motion-mode robot turns on one side, the reset structure can be combined with part of the crawling leg assemblies to achieve self-reset. The multi-motion-mode robot is compact in structure, high in adaptability and capable of achieving high-maneuverability obstacle crossing and rollover self-resetting in complex terrains, and integrates a crawling mode and a jumping mode.
本申请属于机器人技术领域,公开了一种多运动模态机器人,包括:躯干、爬行腿组件和跳跃组件。在躯干的左前侧、右前侧、左后侧和右后侧分别安装一个爬行腿组件,从而构成四足分布式爬行机器人。配合步态控制策略,多运动模态机器人可产生类生物肢体的协同运动模式,相比两足或六足机器人具有更优的地面接触稳定性。躯干的腹侧设置跳跃组件,通过跳跃控制策略可以使多运动模态机器人快速前进或跨越障碍物。另外,当多运动模态机器人侧翻时,复位结构结合部分爬行腿组件可以自复位。本申请的多运动模态机器人结构紧凑、适应能力强,能够在复杂地形中实现高机动越障、侧翻自复位,并集成爬行模式与跳跃模式。
Multi-motion-mode robot
一种多运动模态机器人
16.05.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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