The invention discloses a quadruped robot and a slope motion posture adjusting method. The quadruped robot comprises a front robot body and a rear robot body, wherein the front robot body and the rearrobot body are connected through a flexible spine, and a hydraulic cylinder is arranged below the flexible spine; and two ends of the hydraulic cylinder are respectively hinged below the inner sidesof the front robot body and the rear robot body. When the robot is in an initial posture on the slope, the hydraulic cylinder is firstly controlled to be elongated, the flexible spine is bent in a concave shape, and the relative angle between the front robot body and the rear robot body is increased, so that the distance between the front and rear foot ends of the robot is enlarged; and then the front legs and the rear legs are controlled to rotate clockwise around hip joints connected with the front legs and the rear legs correspondingly, the front legs and the rear legs swing backwards by acertain angle relative to the robot body, and the mass center of the robot moves upwards relative to the slope till the intersection point of the extension line of the gravity center of the robot andthe slope is located in the center of four foot falling points.

    本发明公开了一种四足机器人及坡面运动姿势调整方法,包括前机体和后机体,前机体和后机体之间通过柔性脊椎相连,在柔性脊椎的下方设有液压缸;液压缸的两端分别铰接在前机体、后机体内侧下方。机器人在坡面的初始姿态时;首先控制液压缸伸长,使柔性脊椎呈“凹”型弯曲,使前、后机体的相对角度增大,从而扩大了机器人前后足端距离,然后控制前腿和后腿各自绕与其连接的髋关节顺时针转动,使前腿和后腿相对机体向后摆动一定角度,使机器人质心相对坡面向上移动,直至机器人重心延长线与坡面交点位于四个落足点的中心位置。


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    Title :

    Quadruped robot and slope motion posture adjusting method


    Additional title:

    一种四足机器人及坡面运动姿势调整方法


    Contributors:
    MA ZONGLI (author) / MA QINGYING (author) / WANG JIANMING (author)

    Publication date :

    2020-07-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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