The invention discloses a multi-mode operation type foot inspection robot which is characterized in that the multi-mode operation type foot inspection robot comprises a left side mechanical arm, a right side mechanical arm and a four-foot mobile robot body, and the side mechanical arm and the right side mechanical arm are both fixed to the four-foot mobile robot body; the four-legged mobile robot body comprises a robot body, a left front mechanical leg, a right front mechanical leg, a left rear mechanical leg and a right rear mechanical leg, and the left front mechanical leg and the right front mechanical leg are arranged on the robot body. Due to the fact that the robot has the double-arm operation function, more complex functions can be executed, and due to the four-freedom-degree mechanical legs, the multi-mode operation type foot type inspection robot can have the omni-directional movement function. In addition, the invention further provides a motion control method based on the multi-level CPG, decoupling of various sensor signals can be achieved, and stable motion control over the multi-mode operation type foot type inspection robot is achieved.
本发明公开了一种多模态操作型足式巡检机器人,其特征在于,包括左侧机械臂、右侧机械臂和四足移动机器人本体,且所述侧机械臂和所述右侧机械臂均固定在四足移动机器人本体上,所述四足移动机器人本体包括机体以及左前机械腿、右前机械腿、左后机械腿、右后机械腿,所述左前机械腿、所述右前机械腿。由于其具备双臂操作功能,能够执行更为复杂的功能,且四自由度机械腿使得多模态操作型足式巡检机器人能够具备全向移动功能。此外,本发明还提供一种基于多层级CPG的运动控制方法,能够实现多种传感器信号的解耦,实现多模态操作型足式巡检机器人稳定的运动控制。
Multi-mode operation type foot-type inspection robot and motion control method
一种多模态操作型足式巡检机器人及运动控制方法
2023-09-22
Patent
Electronic Resource
Chinese
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