The invention relates to an underwater webbed humanoid robot based on pneumatic buoyancy control. The underwater webbed humanoid robot comprises an inflation bottle, a trunk module, arm modules, leg modules, flippers, a buoyancy adjusting module, a sensing module and a control module. The inflation bottle is fixedly mounted on the trunk module; the arm modules and the leg modules are connected to the trunk module, and flippers are connected to the bottoms of the leg modules; the buoyancy adjusting module comprises a buoyancy air bag set and an inflation and deflation control mechanism, the buoyancy air bag set is installed on the trunk module and comprises at least three air bags, the inflation and deflation control mechanism controls inflation and deflation of the air bags, and when the air bags are inflated and deflated, the total buoyancy center of the buoyancy air bag set can change in the space; the sensing module comprises an inertial measurement sensor, a water environment detection assembly, a leg movement detection assembly and an arm movement detection assembly; the control module is in communication connection with the sensing module, and the control module is in control connection with the arm module, the leg module and the buoyancy adjusting module.

    本发明涉及一种基于气动浮力控制的水下蹼式人形机器人,包括充气瓶、躯干模块、手臂模块、腿部模块、脚蹼、浮力调节模块、感知模块和控制模块;充气瓶固定安装在躯干模块上;手臂模块和腿部模块连接在躯干模块上,腿部模块底部连接有脚蹼;浮力调节模块包括浮力气囊组和充放气控制机构,浮力气囊组安装于躯干模块,包括至少三个气囊,充放气控制机构控制气囊的充放气,气囊在充放气时能够使浮力气囊组的总浮心在空间中发生变化;感知模块包括惯性测量传感器、水环境检测组件、腿部运动检测组件和手臂运动检测组件;控制模块与感知模块通讯相连,控制模块分别与手臂模块、腿部模块、浮力调节模块都控制相连。


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    Title :

    Underwater webbed humanoid robot based on pneumatic buoyancy control


    Additional title:

    一种基于气动浮力控制的水下蹼式人形机器人


    Contributors:
    LIU JIHAO (author) / LIN ZHILIANG (author)

    Publication date :

    2024-09-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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