The invention provides an 18-axis six-leg constant tension walking motion control system and method. The system comprises a machine body, six leg structures, a motion control unit and a motion controller. The six leg structures comprise the first leg structure, the second leg structure, the third leg structure, the fourth leg structure, the fifth leg structure and the sixth leg structure. The six leg structures are the same, and any one leg structure comprises a hip joint, a thigh, a knee joint, a shank and a sole. The 18-shaft 6-leg constant tension walking motion control system is provided with the two sets of leg structures, each set of leg structure comprises the three legs arranged in the triangular shape, and therefore when one set of leg structure is in the air, the other set of leg structure tends to move forwards but does not leave the ground, triangular stable supporting is achieved, and walking stability is improved.
本发明提供一种18轴6腿恒张力行走运动控制系统及方法,系统包括机身本体、6个腿部结构、运动控制单元以及运动控制器;所述6个腿部结构包括1号腿部结构、2号腿部结构、3号腿部结构、4号腿部结构、5号腿部结构和6号腿部结构;6个腿部结构均相同,任意一个腿部结构包括髋关节、大腿、膝关节、小腿和脚掌。本发明提供的18轴6腿恒张力行走运动控制系统,具有两组腿部结构,每组腿部结构包括三个呈三角形布置的腿,因此,当一组腿部结构腾空时,另一组腿部结构产生前驱倾向,但不离地,从而实现三角状稳定支撑,提高行走稳定性。
18-shaft 6-leg constant tension walking motion control system and method
18轴6腿恒张力行走运动控制系统及方法
2023-06-13
Patent
Electronic Resource
Chinese
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