The invention discloses a bouncing robot which comprises a machine frame, a posterior limb arranged on the machine frame and used for achieving bouncing and a posterior limb driving mechanism arranged on the machine frame and used for driving the posterior limb to bounce and further comprises a transverse rolling quantity wheel module and a pitching momentum wheel module which are installed on the front half portion of the machine frame. The transverse rolling quantity wheel module comprises a transverse rolling quantity wheel with a rotating plane parallel to the front side face and the rear side face of the rack, and the pitching momentum wheel module comprises a pitching momentum wheel with a rotating plane parallel to the left side face and the right side face of the rack. Through operation of the transverse rolling quantity wheel module and the pitching momentum wheel module, angular momentum generated by rotation of the transverse rolling quantity wheel and the pitching momentum wheel is driven to balance the aerial posture of the robot, and under the condition that the bouncing robot jumps and falls to the ground through the hind limbs, the zero moment point of the robot is always located in a supporting polygon formed by the hind limbs; and stable landing of the robot is ensured.
本发明公开一种弹跳机器人,包括机架、设置在机架上用于实现弹跳的后肢、以及设置在机架上用于驱动后肢弹跳的后肢驱动机构,还包括有横滚动量轮模组和俯仰动量轮模组,横滚动量轮模组和俯仰动量轮模组分别安装在机架的前半部,横滚动量轮模组包括有转动平面与机架的前后侧面相平行的横滚动量轮,俯仰动量轮模组包括有转动平面与机架的左右侧面相平行的俯仰动量轮。本发明通过横滚动量轮模组以及俯仰动量轮模组的运转,驱动横滚动量轮和俯仰动量轮旋转所产生的角动量平衡机器人空中姿态,在弹跳机器人通过后肢实现起跳并落地的情况下,则机器人零力矩点始终处于后肢形成的支撑多边形内,保证机器人落地平稳。
Bouncing robot
一种弹跳机器人
18.08.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |