The invention discloses a roller skating multi-legged robot structure and a control method. A multi-legged robot structure for roller skating at least comprises a robot body, a first driving leg, a second driving leg, a connecting plate and a ducted fan. The first end of the first driving leg is rotationally connected with the machine body, the first end of the second driving leg is rotationally connected with the machine body, the second end of the first driving leg and the second end of the second driving leg are rotationally connected with the first side of the connecting plate, and a pulley is further installed on the second side of the connecting plate; and the ducted fan is arranged on the fuselage. According to the control method, the driving module of the first driving leg, the driving module of the second driving leg and the driving module of the middle leg control the corresponding first driving leg, the corresponding second driving leg and the corresponding middle leg to be matched to complete linear sliding, turning sliding, uphill sliding, downhill sliding, alternate leg supporting walking, braking and emergency braking movement. The ducted fan is used for providing thrust or resistance, so that the robot can adapt to the complex environment, and the sliding speed and the flexibility of the robot can be improved.
本申请公开了一种滑旱冰多足机器人结构及控制方法。滑旱冰多足机器人结构,至少包括:机身、第一驱动腿、第二驱动腿、连接板以及涵道风扇;第一驱动腿的第一端与机身转动连接,第二驱动腿的第一端与机身转动连接,第一驱动腿的第二端和第二驱动腿的第二端均与连接板的第一侧转动连接,连接板的第二侧还安装有滑轮;涵道风扇设置于机身上。控制方法,第一驱动腿的驱动模组、第二驱动腿的驱动模组和中间腿的驱动模组分别控制对应的第一驱动腿、第二驱动腿和中间腿配合完成直线滑行、转弯滑行、上坡滑行、下坡滑行、交替腿支撑行走、制动和急刹运动。本申请利用涵道风扇提供推力或阻力,使机器人能适应复杂的环境,还能提升其滑行速度和灵活程度。
Roller-skating multi-legged robot structure and control method
一种滑旱冰多足机器人结构及控制方法
2024-05-31
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Multi-legged robot with multi-legged mechanical steering structure
European Patent Office | 2023
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