The invention discloses a composite four-footed movement method of a pure pneumatic drive four-footed crawling robot, comprising a composite Walk movement gait and a composite Trot movement gait, the composite Walk movement gait moves more by a distance of inflation extension of one body along with bending and extension of the body while legs of the pure pneumatic drive four-footed crawling robot step; the composite Trot motion gait is subjected to three processes of bending, complete stretching and bending in the process that the body of the pure pneumatic driving four-foot crawling robot is bent from the left side to the right side. The trunk of a quadruped reptile is simulated through the robot pneumatic trunk assembly, the two-degree-of-freedom legs of the quadruped reptile are simulated through the robot leg assembly, and the trunk and leg structures of the amphibian are simulated to a great extent.

    本发明公开了一种纯气动驱动四足爬行机器人的复合四足运动方法,包括复合Walk运动步态和复合Trot运动步态,复合Walk运动步态在纯气动驱动四足爬行机器人腿部迈步的同时伴随身体的弯曲和伸长,多移动一个身体充气伸长的距离;复合Trot运动步态在纯气动驱动四足爬行机器人身体从左侧到右侧弯曲的过程中,经历弯曲、完全伸长、弯曲三个过程。通过机器人气动躯干组件来模拟四足爬行动物的躯干,通过机器人腿部组件来模拟四足爬行动物两自由度腿部,极大程度上对两栖动物躯干和腿部结构进行了仿生。


    Access

    Download


    Export, share and cite



    Title :

    Composite four-foot movement method of pure pneumatic driving four-foot crawling robot


    Additional title:

    一种纯气动驱动四足爬行机器人的复合四足运动方法


    Contributors:
    HU QIAO (author) / SUN LIANGJIE (author) / ZHANG HAO (author) / SU WENBIN (author) / JIANG CHUAN (author) / CHEN LONG (author) / FENG XUHUI (author) / ZU SIYU (author)

    Publication date :

    2023-09-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES



    Four-foot crawling robot device

    QIU ZHAOPENG / LIU SHUAI / CHEN CHUNXIAN et al. | European Patent Office | 2023

    Free access

    Four-foot crawling mechanism

    LIU JUN / TONG ZHOU | European Patent Office | 2020

    Free access

    Four-foot crawling micro-robot and control method

    WU YICHUAN / HAO PENGFENG / WANG PENG et al. | European Patent Office | 2023

    Free access

    Four-foot piezoelectric crawling robot and control method thereof

    HE SHIJIE / ZHOU SHENGXI | European Patent Office | 2023

    Free access

    Double-foot four-degree-of-freedom grid crawling robot

    BAN SHUHAO / XU RAN / HE YUNSONG et al. | European Patent Office | 2023

    Free access