The invention discloses a soft-body crawling robot with four feet. The robot comprises a robot body and a control system, wherein the robot body comprises a body bracket, and four legs mounted on the body bracket; each leg consists of four extended pneumatic muscles in parallel arrangement; the control system comprises a DSP control module and a driving amplifying module, wherein the input end of the driving amplifying module is connected with the DSP control module, and the output end of the driving amplifying module is connected with the extended pneumatic muscles through sixteen pneumatic valves; an air source is connected to the pneumatic valves. The soft-body crawling robot with four feet, disclosed by the invention, is simple in structure and small in size and can enter a small narrow space to complete tasks in complex environment; the extended pneumatic muscles are controlled to extend or return to the original positions, so that moving forwards or backwards of the robot with four feet can be realized. According to the soft-body robot disclosed by the invention, the DSP is adopted as a processor, and the extended pneumatic muscles are used as executing mechanisms, so that the movement of the soft-body robot with four feet is realized.
Soft-body crawling robot with four feet
2016-02-24
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |