The multi-legged robot comprises a posture stabilizer, the lower end of the posture stabilizer is fixed to a robot body trunk, the lower end of the robot body trunk is connected with a pair of leg modules, and a spherical shell is fixed to the outer side of the posture stabilizer. The invention further discloses a movement control method based on the multi-legged robot, and the movement control method comprises the steps that the first joint and the second joint are controlled through stretching and retracting of the first push rod and the second push rod correspondingly, gait movement is conducted, and differential movement can be conducted on the flat ground only through the fourth gear motor; the third joint and the fourth joint are controlled through rotation of the first speed reduction motor and the second speed reduction motor respectively to conduct gait movement, and differential movement can be conducted on the flat ground only through the third speed reduction motor. The invention further discloses a posture control method based on the multi-legged robot. The posture control method comprises a dynamic stable state and a static stable state. According to the invention, attitude control and movement control are separately designed, so that the manufacturing cost is reduced.
本发明公开了一种多足机器人,包括:姿态稳定器,所述姿态稳定器下端固定在机器人主体躯干上,所述机器人主体躯干下端连接一对腿部模组,所述姿态稳定器外侧固定有球形外壳。还公开了一种基于多足机器人的移动控制方法,包括:通过所述第一推杆和第二推杆的伸缩分别控制所述第一关节和第二关节,进行步态移动,在平地上,可仅依靠所述第四减速电机做差速运动;通过第一减速电机和第二减速电机的转动分别控制所述第三关节和第四关节,进行步态移动,在平地上,可仅依靠所述第三减速电机做差速运动。还公开了一种基于多足机器人的姿态控制方法,包括:动态稳定状态和静态稳定状态。本发明将姿态控制和移动控制分离设计,降低了制造成本。
Multi-legged robot, movement control method and attitude control method
一种多足机器人、移动控制方法及姿态控制方法
2023-12-29
Patent
Electronic Resource
Chinese
Development of Attitude Control for Underwater Six-legged Robot
British Library Online Contents | 2018
|European Patent Office | 2024
|European Patent Office | 2025
|LEGGED ROBOT MOVEMENT CONTROL METHOD, APPARATUS AND DEVICE, AND MEDIUM
European Patent Office | 2023
|