The invention belongs to the technical field of bionic robots, and discloses a bionic quadruped robot based on a pneumatic honeycomb muscle structure and a control method. The bionic quadruped robot comprises a robot trunk formed by assembling a trunk plate, connecting plate pieces and shoulder plates, four mechanical legs are installed at the two ends of the two shoulder plates respectively, thigh skeletons are installed on the shoulder plates through thigh honeycomb muscle structures, the thigh honeycomb muscle structures are installed on the thigh skeletons through two two-degree-of-freedom connecting joints, and the thigh honeycomb muscle structures are connected with the thigh skeleton through the two two-degree-of-freedom connecting joints. In addition, a shank honeycomb muscle structure is installed between the thigh skeleton and the shank skeleton, the thigh honeycomb muscle structure and the shank honeycomb muscle structure execute action instructions sent by the air pressure control system through the air source supply system to provide power for movement of the thigh skeleton and the shank skeleton, and all inflation areas are accurately controlled. Therefore, complex operations such as walking, transverse moving and steering obstacle avoidance are completed. The designed bionic quadruped robot has the advantages of being low in cost and smooth in gait, and large load can be achieved under the severe condition.
本发明属于仿生机器人的技术领域,公开了一种基于气动蜂巢肌肉结构的仿生四足机器人及控制方法。该仿生四足机器人包括由躯干板、连接板件以及肩板组装成的机器人躯干,四条机械腿分别安装在两个肩板的两端,其中大腿骨骼通过大腿蜂巢肌肉结构安装在肩板上,在大腿骨骼通过两个双自由度连接关节安装有大腿蜂巢肌肉结构,另外在大、小腿骨骼之间安装有小腿蜂巢肌肉结构,其中大、小腿蜂巢肌肉结构分别通过气源供给系统执行气压控制系统发出的动作指令为大、小腿骨骼的活动提供动力,并对各充气区域实现精准控制,由此完成行走、横移、转向避障等复杂操作。本发明设计的仿生四足机器人具有成本较低、步态柔顺的优点,在恶劣条件下可实现较大载重。
Bionic quadruped robot based on pneumatic honeycomb muscle structure and control method
一种基于气动蜂巢肌肉结构的仿生四足机器人及控制方法
2023-12-12
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |