The embodiment of the invention provides a robot based on a paper folding principle, a control method of the robot, a controller and a storage medium, and belongs to the technical field of paper folding robots. The motion control method of the robot comprises the steps that the robot is controlled to enter a rotor wing shape or a rolling wheel shape through a folding and unfolding motor and a driving connecting element, the rotor wing shape refers to that fan-shaped panels at each end are in a pairwise overlapped state, and the rolling wheel shape refers to that the fan-shaped panels at each end are in a pairwise unfolded state; in the rotor wing form, the robot is controlled to enter a flight mode in the rotor wing form through a motion control system; and in the rolling wheel form, the robot is controlled to enter a rolling mode in the rolling wheel form through the motion control system. According to the robot, complete switching between the rotor wing form and the rolling wheel form is achieved based on a single-degree-of-freedom paper folding structure, and the robot can fly in the rotor wing form and roll in the rolling wheel form.

    本申请实施例提供了一种基于折纸原理的机器人及其控制方法、控制器和存储介质,属于折纸机器人技术领域。所述机器人的运动控制方法包括:通过折展电机,驱动连接元件,以控制所述机器人进入旋翼形态或滚轮形态,旋翼形态是指每一端的扇形面板处于成对重叠的状态,滚轮形态是指每一端的扇形面板处于成对展开的状态;在旋翼形态下,通过运动控制系统,控制机器人在旋翼形态下进入飞行模式;在滚轮形态下,通过运动控制系统,控制机器人在滚轮形态下进入滚动模式。本发明的机器人基于一种单自由度的折纸结构来实旋翼形态和滚轮形态的完全切换,并能够在旋翼形态下进行飞行,在滚轮形态下进行滚动。


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    Title :

    Robot based on paper folding principle, control method of robot, controller and storage medium


    Additional title:

    基于折纸原理的机器人及其控制方法、控制器和存储介质


    Contributors:
    FENG HUIJUAN (author) / LIN JIANG (author) / DENG LIZI (author) / MIAO ZHONGQI (author) / WANG WEIHAO (author)

    Publication date :

    2024-09-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B64U



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