The invention discloses a quadruped robot based on middle-waist auxiliary movement. The quadruped robot comprises a left front leg, a right front leg, a front robot body, a waistline, a rear robot body, a left rear leg and a right rear leg. The left front leg and the right front leg are connected with the front robot body, the left rear leg and the right rear leg are connected with the rear robotbody, and the front robot body is connected with the rear robot body through the waistline; the left front leg, the right front leg, the left rear leg and the right rear leg have the same structure and are symmetrically arranged; and the left front leg comprises a first foot end, a first shank, a first shank hydraulic cylinder, a first thigh, a first hip, a first hip hydraulic cylinder and a firstthigh hydraulic cylinder. A middle waist structure is adopted to assist the quadruped robot in moving, problems of system disorder, low reliability and the like caused by complex control can be reduced, and moving flexibility and an obstacle crossing capacity of the robot are improved. And meanwhile, steering and other motion of the quadruped robot and gait coordination motion of four feet are better achieved through the middle waist.
本发明公开了一种基于中腰辅助运动的四足机器人,包括左前腿、右前腿、前机身、中腰、后机身、左后腿以及右后腿;所述左前腿、右前腿与所述前机身连接,所述左后腿以及右后腿与所述后机身连接,所述前机身通过所述中腰与所述后机身连接;所述左前腿、右前腿、左后腿以及右后腿结构相同,对称布置;其中所述左前腿包括第一足端、第一小腿、第一小腿液压缸、第一大腿、第一髋部、第一髋部液压缸、第一大腿液压缸;本发明采用中腰结构辅助四足机器人运动,能够减少因控制复杂而引入的系统紊乱和低可靠性等问题,提高机器人的运动灵活性和越障能力。同时通过中腰更好地实现四足机器人转向等运动以及四足的步态协调运动。
Quadruped robot based on middle-waist auxiliary movement
一种基于中腰辅助运动的四足机器人
2020-10-30
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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