本发明提供一种四足机器人及脊椎‑腿足耦合驱动方法,涉及仿生机器人技术领域,包括主动脊柱和两个肢体,两个肢体分别为前肢和后肢,两个肢体分别能够俯仰且沿着前后方向能够伸缩地设置于主动脊柱的两端,主动脊柱能够驱动肢体俯仰以及伸缩。脊椎‑腿足耦合驱动方法通过耦合控制摆动输出件的摆动状态、肢体的伸缩状态和弹性腿的蓄放能状态来模拟四足动物奔跑时脊柱俯仰、收缩和腿部的蓄放能状态。本发明提供的方案能够更加真实地模拟四足动物的奔跑姿态,以提高移动速度以及能量效率。
Provided are a quadruped robot and a spine-leg-foot coupling driving method, relating to the technical field of bionic robots. The quadruped robot includes an active spine, and two trunks. The two trunks are a fore trunk and a hind trunk, respectively. The two trunks can pitch and can be telescopically arranged at both ends of the active spine in a front-rear direction. The active spine can drive the trunks to pitch, extend and retract. In accordance with the spine-leg-foot coupling driving method, the pitch and retraction state of the spine and the energy storage and release state of legs during the running of a quadruped are stimulated by controlling the swing state of a swing output member, the extension and retraction state of the trunk and the energy storage and release state of an elastic leg.
一种四足机器人及脊椎-腿足耦合驱动方法
2025-06-27
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |