The invention provides a quadruped robot and a spine-leg-foot coupling driving method, and relates to the technical field of biomimetic robots, the quadruped robot comprises an active spine and two limbs, the two limbs are a front limb and a rear limb, and the two limbs can pitch and are telescopically arranged at the two ends of the active spine in the front-back direction; the active spine can drive the limbs to pitch and stretch out and draw back. According to the spine-leg-foot coupling driving method, the pitching and contraction states of the spine and the energy storage and release states of the legs during running of the quadruped animal are simulated by coupling and controlling the swing state of the swing output piece, the stretching and contraction states of the limbs and the energy storage and release states of the elastic legs. According to the scheme provided by the invention, the running posture of the quadruped animal can be simulated more truly, so that the moving speed and the energy efficiency are improved.
本发明提供一种四足机器人及脊椎‑腿足耦合驱动方法,涉及仿生机器人技术领域,包括主动脊柱和两个肢体,两个肢体分别为前肢和后肢,两个肢体分别能够俯仰且沿着前后方向能够伸缩地设置于主动脊柱的两端,主动脊柱能够驱动肢体俯仰以及伸缩。脊椎‑腿足耦合驱动方法通过耦合控制摆动输出件的摆动状态、肢体的伸缩状态和弹性腿的蓄放能状态来模拟四足动物奔跑时脊柱俯仰、收缩和腿部的蓄放能状态。本发明提供的方案能够更加真实地模拟四足动物的奔跑姿态,以提高移动速度以及能量效率。
Quadruped robot and spine-leg-foot coupling driving method
一种四足机器人及脊椎-腿足耦合驱动方法
2023-07-18
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |