The invention relates to the technical field of robots, in particular to a foot type robot and a motion control method.The foot type robot comprises a head and a trunk body connected with the head; the two leg assemblies are connected with the crotch of the trunk body, the two arm assemblies are connected with the shoulders of the trunk body, and all joints in the leg assemblies and all joints in the arm assemblies are driven by motors; wherein a battery module and a gravity center compensation device located below the battery module are arranged in the trunk body, the gravity center compensation device comprises an X-axis moving mechanism and a Y-axis moving mechanism, the X-axis moving mechanism is used for driving the battery module to move left and right, and the Y-axis moving mechanism is used for driving the battery module to move front and back; through cooperation of the X-axis moving mechanism and the Y-axis moving mechanism, movement of the battery module in multiple directions in the horizontal plane can be achieved, movement of the battery module is used for adjusting the gravity center of the foot type robot in the movement process, and therefore it is guaranteed that movement is stable, and falling is prevented.

    本发明涉及机器人技术领域,尤其涉及一种足式机器人及运动控制方法,其中,足式机器人包括:头部和与头部相连的躯干本体;与躯干本体胯部相连的两个腿部组件,与躯干本体肩部相连的两个手臂组件,腿部组件和手臂组件内部各关节均采用电机驱动;其中,躯干本体内部设置有电池模组和位于电池模组下方的重心补偿装置,重心补偿装置包括X轴移动机构和Y轴移动机构,X轴移动机构用于带动电池模组左右移动,Y轴移动机构用于带动电池模组前后移动,本发明中通过X轴移动机构和Y轴移动机构的配合,可以实现电池模组在水平面内多个方向的移动,电池模组的移动用于在运动过程中调整足式机器人的重心,从而保证运动的平稳,防止摔倒。


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    Title :

    Foot type robot and motion control method


    Additional title:

    一种足式机器人及运动控制方法


    Contributors:
    ZUO XUEYONG (author) / LIU GUOHUA (author) / GENG YU (author) / ZHANG ZEQI (author)

    Publication date :

    2023-03-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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