The invention relates to a double-gait hexapod robot and a double-gait hexapod robot crawling method.The double-gait hexapod robot comprises a robot body and an advancing control module, and the robot body comprises a trunk, two front legs, two middle legs, two rear legs and a sliding part; the two middle legs are connected to the trunk through the sliding parts and can slide between the front legs and the rear legs through the sliding parts, the advancing control module is electrically connected with the robot body, and the advancing control module comprises a gait analysis module, a structure adjustment module, a parameter calculation module and an advancing driving module. Compared with the prior art, the double-gait hexapod robot has the advantages that the needed gait is judged through the advancing control module, then the position of the middle leg can be changed through the sliding part, the middle leg can move together with the front leg or the rear leg, the hexapod robot can walk in the four-foot gait mode, and the double-gait hexapod robot can have the advantages of the triangular gait and the four-foot gait; and more diverse environments can be handled.
本发明涉及一种双步态六足机器人及双步态六足机器人爬行方法,其中双步态六足机器人包括机器人本体和行进控制模块,机器人本体包括躯干、两个前腿、两个中腿、两个后腿和滑动部,两个中腿通过滑动部连接于躯干并可以通过滑动部在前腿和后腿之间滑动,行进控制模块电连接机器人本体,行进控制模块包括步态分析模块、结构调整模块、参数计算模块和行进驱动模块。相比于现有技术,本发明通过行进控制模块判定所需的步态,然后通过滑动部使得中腿能够改变位置,使中腿能够和前腿或后腿共同运动,实现六足机器人以四足步态的行走,使得本双步态六足机器人能够兼具三角步态和四足步态的优点,能够应付更加多样的环境。
Double-gait hexapod robot and double-gait hexapod robot crawling method
一种双步态六足机器人及双步态六足机器人爬行方法
2023-09-01
Patent
Electronic Resource
Chinese
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