The invention discloses a gait control system and method for a bionic crawling limb soft robot, and relates to the field of soft robots. The gait control system of the bionic crawling four-limb soft robot comprises four control air paths and a controller. Each control gas path comprises a gas source, and a first electromagnetic valve, a second electromagnetic valve and a third electromagnetic valve which are respectively connected with the gas source through pipelines; the first electromagnetic valve is connected with two torsion drivers used for driving the corresponding limbs to rotate clockwise and anticlockwise around the vertical axis through pipelines, and the second electromagnetic valve is connected with a fourth electromagnetic valve through a pipeline. The fourth electromagnetic valve is connected with two bending drivers used for driving the corresponding limbs to bend clockwise and anticlockwise around the horizontal axis through pipelines, and the third electromagnetic valve is connected with the external atmosphere through a pipeline. According to the gait control system and method for the bionic crawling four-limb soft robot, on the basis that the control precision of the soft robot is guaranteed, the jamming phenomenon caused by unequal moving distances of front and rear legs in the control process is avoided.

    一种仿生爬行四肢软体机器人步态控制系统及方法,涉及软体机器人领域。该仿生爬行四肢软体机器人步态控制系统包括四个控制气路及控制器;每个控制气路均包括气源、分别通过管道与气源连接的第一电磁阀、第二电磁阀和第三电磁阀;第一电磁阀分别通过管道连接有两个用于驱动对应肢体绕竖直轴线顺时针和逆时针旋转的扭转驱动器,第二电磁阀通过管道连接有第四电磁阀,第四电磁阀分别通过管道连接有两个用于驱动对应肢体绕水平轴线顺时针和逆时针弯曲的弯曲驱动器,第三电磁阀通过管道与外部大气连接。仿生爬行四肢软体机器人步态控制系统及方法在保证软体机器人控制精度的基础上,解决了控制过程中前后腿移动距离不等造成的卡死现象。


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    Title :

    Gait control system and method for bionic crawling four-limb soft robot


    Additional title:

    一种仿生爬行四肢软体机器人步态控制系统及方法


    Contributors:
    LV ZHONGMING (author) / HE YIGANG (author) / LI WENYUE (author) / LIU XIAOYU (author) / LI ZIHAO (author) / LEI LEIXIAO (author) / MENG ZHUOLUN (author) / ZHOU YAZHONG (author) / WANG DIWEI (author) / LI JIAYI (author)

    Publication date :

    2024-12-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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