The invention relates to the technical field of robots, in particular to an underwater biped walking robot and a motion control method. The underwater biped walking robot comprises a driving unit, a head unit, a walking unit and a control unit, the driving unit is bullfrog muscles which are naturally shrunk to be in a hook shape after being dissociated, the head unit is connected with one end of the driving unit, the walking unit is connected with the hook portion of the driving unit, and the walking unit comprises feet distributed on the two sides of the driving unit. The control unit comprises a signal generator and an electrode and is used for responding to the square wave signal to generate an electric field in the conductive solution environment and controlling the driving unit to drive the walking unit to do straight movement or steering movement in different bending modes. The contraction state of bullfrog muscles is controlled through square wave signal stimulation, one bullfrog muscle can execute two movement modes of advancing and steering at the same time, the movement speed and the movement mode are controllable, and the higher movement speed is achieved.
本发明涉及机器人技术领域,具体涉及一种水下双足步行机器人及运动控制方法。水下双足步行机器人包括驱动单元、头部单元、行走单元以及控制单元,驱动单元为解离后肌肉自然收缩呈弯钩状的牛蛙肌肉,头部单元和驱动单元的一端连接,行走单元和驱动单元的弯钩部位连接,包括分布在驱动单元两侧的足部,控制单元包括信号发生器和电极,用于响应方波信号在导电溶液环境中产生电场,控制驱动单元在不同的弯曲模式下带动行走单元进行直行运动或转向运动。本发明利用方波信号刺激控制牛蛙肌肉的收缩状态,能够实现由一块牛蛙肌肉,但可以同时执行前进、转向的两种运动模态,且运动的速度、运动的模态可控,具有更高的运动速度。
Underwater biped walking robot and motion control method
一种水下双足步行机器人及运动控制方法
03.12.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
Biped walking robot control method and biped walking robot control system
Europäisches Patentamt | 2016
|Walking control method, walking control program and biped walking robot
Europäisches Patentamt | 2019
|WALKING CONTROL METHOD, WALKING CONTROL PROGRAM AND BIPED WALKING ROBOT
Europäisches Patentamt | 2017
|Novel bionic underwater biped walking robot and movement method thereof
Europäisches Patentamt | 2020
|