The invention relates to the technical field of momentum adjusters, in particular to a rotating flywheel momentum adjuster used for adjusting the falling posture of a quadruped robot. In order to overcome the defects in the prior art, three flywheel momentum regulators are arranged, axes of three flywheels are perpendicular pairwise and are located on a virtual x axis, a virtual y axis and a virtual z axis respectively, the angular momentum conservation principle is applied, angular momentum in the pitching, yawing and rolling directions is applied to the quadruped robot, the posture of the quadruped robot in the falling process is adjusted, and therefore the quadruped robot falling posture is adjusted. And stable landing of the quadruped robot is realized.
本发明涉及动量调节器技术领域,更具体的说是一种用于四足机器人坠落姿态调整的旋转飞轮动量调节器。针对现有技术的不足,通过三个旋转飞轮动量调节器,且三个飞轮的轴线两两垂直,分别位于一个虚拟的x、y、z轴上运用角动量守恒原理,通过对四足机器人施加在俯仰、偏航、翻滚方向上的角动量,调整四足机器人坠落过程中的姿态,实现四足机器人平稳着陆。
Rotary flywheel momentum regulator for adjusting falling posture of quadruped robot
一种用于四足机器人坠落姿态调整的旋转飞轮动量调节器
2025-03-18
Patent
Electronic Resource
Chinese
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