The invention discloses a multi-degree-of-freedom spine joint quadruped robot and a rigidity self-adaptive control method thereof. The multi-degree-of-freedom spine joint quadruped robot comprises a trunk, multi-degree-of-freedom spine joints and mechanical legs The front trunk is connected with the rear trunk through the multi-degree-of-freedom spine joints, and pitching and rolling movement of the front trunk relative to the rear trunk is achieved through the multi-degree-of-freedom spine joints. The multi-degree-of-freedom spine joints are arranged to be three joints and comprise two pitching joints and a transverse rolling joint, each joint comprises a rigidity self-adaption active adjusting assembly, and the multi-degree-of-freedom spine joints are hinged to the front trunk and the rear trunk; according to the robot, a multi-sensor system of the robot body can be fused to sense the posture of the robot and the complex change of the surrounding terrain, the rigidity needed by each joint is calculated through related information, the severe impact of the ground on the robot can be reduced, the loss of joint motors is reduced, and the movement stability of the robot is kept; and the overturning problem caused by irregular terrain space change or environment disturbance is prevented.

    本发明公开了多自由度脊柱关节四足机器人及其刚度自适应控制方法,包括躯干,多自由度脊柱关节和机械腿;前躯干通过多自由度脊柱关节与后躯干连接,通过多自由度脊柱关节实现前躯干相对于后躯干进行俯仰与横滚运动;多自由度脊柱关节设置为三个关节,包含两个俯仰关节与一个横滚关节,每个关节均包含刚度自适应主动调节组件,所述多自由度脊柱关节与前后躯干铰接;机械腿设置为四组,本发明能够融合机体多传感器系统感知自身姿态以及周围地形的复杂变化,通过相关信息计算出各关节需要的刚度,可以减少地面对机器人的剧烈冲击,减小关节电机损耗,使机器人保持运动的稳定性,防止由于不规则地形空间变化或者环境扰动导致的倾覆问题。


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    Title :

    Multi-degree-of-freedom spinal joint quadruped robot and rigidity self-adaptive control method thereof


    Additional title:

    多自由度脊柱关节四足机器人及其刚度自适应控制方法


    Contributors:
    AI QINGLIN (author) / ZHU SHAOXUAN (author) / LIU YUANXIAO (author) / SONG GUOZHENG (author)

    Publication date :

    2023-05-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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