CN105966488A - Six-wheel-leg movable operation robot test platform - Google Patents

Abstract

The invention discloses an experimental platform for a mobile operation robot with six-wheel legs, which includes a robot body and six robot single-leg structures, and the six robot single-leg structures are uniformly installed on the robot body in the circumferential direction; the single-leg structure can be designed into two structures: one One is a wheel-leg structure with walking and wheeling functions; the other is a leg-arm operation structure with walking and operation functions. The above two single-leg structures can be selected according to different task requirements. At the same time, the interior of the robot body is divided into a sensing layer, a driving layer, a control layer and a power layer by partitions, which are used to install the control system and realize the motion control of the robot. The invention has the advantages of having the walking wheel function, good adaptability to the road environment, and having special operating legs, which can be configured with different end effectors to fulfill different task requirements.

Description

An experimental platform for a mobile robot with six-wheeled legs

technical field

The invention patent designs a six-wheel leg mobile operation robot experimental platform, which belongs to the fields of robotics, electronic technology and sensor technology.

Background technique

Legged robots are an important branch in the field of modern robotics. According to the number of legs, robots can be divided into biped robots, quadruped robots and hexapod robots. Hexapod robots have attracted the attention of scholars from all over the world because of their high stability and high redundancy. They are widely used in field detection, pre-emptive rescue and other tasks. Traditional wheeled robots have higher movement speed and higher work efficiency, but have stricter requirements on the working environment. Therefore, the wheel-leg combined robot combines the advantages of the two kinds of robots, which has high research value. It is not enough for the future robot to only have the function of moving. It should also have the function of manipulating the target object. It will be the trend of the single-leg structure design of the legged robot that the limbs can realize the fusion operation function of the leg and arm. In recent years, for the legged robot There are more and more achievements in the structural design of robots with single legs to achieve operational functions. Typical representatives include the Titan-IX robot developed by Tokyo Institute of Technology in Japan and the Asterisk developed by the Institute of Engineering Science and Technology of Osaka University in Japan. However, the legs of these robots have complex structures. , control difficulties and other shortcomings. Generally, after the physical mechanical structure of the robot is completed, the structure of the control system has a great influence on whether the robot can operate according to the expected goal. After the robot platform is built, how to conveniently operate the robot remotely is also a research hotspot.

Contents of the invention

In view of the above problems, the present invention proposes a six-wheel-legged mobile operation robot experimental platform, which is a new construction of the six-wheel-legged robot; its physical mechanical structure mainly includes five mobile wheel-leg assemblies, a leg-arm operation assembly and a body assembly; On the basis of the structure, the control system and sensor system of the six-wheel legged robot are built, and the power components are configured.

The invention provides an experimental platform for a six-wheel leg mobile operation robot, which comprises a robot body and six robot single-leg structures, and the six robot single-leg structures are uniformly installed on the robot body in the circumferential direction. The single-leg structure can be designed into two structures:

Structure 1: The wheel-leg structure with the functions of walking and wheeling, including three leg sections and four driving steering gears. Let the three leg sections be respectively the first leg section, the second leg section, and the third leg section, and the four driving steering gears be respectively the first steering gear, the second steering gear, the third steering gear, and the fourth steering gear. Wherein, one end of the first leg section is fixedly installed on the output shaft of the first steering gear to form a hip joint; the axis of the output shaft of the first steering gear is perpendicular to the horizontal plane, and the first steering gear drives the first leg section to swing laterally. The second steering gear is fixedly installed on the other end of the first leg joint, and the output shaft of the second steering gear is fixed to one end of the second leg joint to form a knee joint; the axis of the output shaft of the second steering gear is perpendicular to the axis of the output shaft of the first steering gear, by The second steering gear drives the second leg section to swing longitudinally. The other end of the second leg section is fixed to the output shaft of the third steering gear to form an ankle joint; the axis of the output shaft of the third steering gear is parallel to the axis of the output shaft of the second steering gear, and the third leg joint is driven by the third steering gear to swing longitudinally. The fourth steering gear is located in the middle of the third leg section. The axis of the output shaft of the fourth steering gear is parallel to the axis of the output shaft of the third steering gear. The output shaft of the fourth steering gear is coaxially fixed with wheels through splines. The machine drives the wheels to rotate; the other end of the third leg section is equipped with a foot-ground detection mechanism, which is used for the contact between the single-leg structure and the ground, and at the same time can realize the detection of the foot-ground contact state.

Structure 2: The leg-arm operation structure with walking and operation functions. On the basis of structure 1, the fourth steering gear and wheels are removed; at the same time, the third leg joint and foot ground detection mechanism are removed, and are respectively executed by the actuator connector and the end. If the actuator is replaced, the end effector is fixedly connected to the third steering gear through the actuator connector. The specific connection method is: the actuator connector adopts an actuator connector with a replaceable interface, so that the actuator connector can be connected to the end effector.

The interior of the robot body is divided into four layers by partitions. From top to bottom, there are sensing layer, driving layer, control layer and power layer, which are used to install the control system. Among them, the Xtion PRO LIVE camera and IMU are installed on the sensing layer; the Xtion PRO LIVE camera is used to collect environmental information, realize simultaneous positioning and map creation, and obtain human information for human-computer interaction. The IMU is used to obtain the robot's own pose, assist positioning and create a map of the environment. Six steering gear drive boards are installed on the driving layer, which are used to control the movement of each steering gear on the 6 single-leg structures. A main control board is installed on the control layer to realize functions such as communication management, sensor data collection, data processing and drive management. A battery box is installed on the power layer, and a robot power supply battery is installed in the battery box.

The robot body communicates wirelessly with the remote control terminal, and is controlled by the remote control terminal. The remote control terminal has a security authentication module, an audio and video playback module, a control module and an information display module. Each module is divided into a front-end and a back-end; the front-end is a human-computer interaction interface; the back-end is responsible for network communication and data processing. Among them, the security authentication module is used to obtain the user information input by the user, which is encapsulated into a data packet through the background and sent to the main control board of the robot, and the main control board feeds back the login result to the security authentication module for display. The audio and video playback module receives the sound information returned by the Xtion PRO LIVE camera and the images collected by the camera through the background, and displays it in the audio and video playback module after being decoded in the background. The information display module receives six groups of robot sensing information returned by the IMU, such as posture, joint angle and joint torque information, and is used to display the sensing information of the hexapod robot. The control module is composed of motion controls, which can control the movement of the robot; at the same time, it can set the robot's travel mode.

The advantages of the present invention are:

1. The six-wheel leg mobile operation robot experimental platform of the present invention has the function of walking and walking, and has good adaptability to the road environment, and has special operating legs, which can be configured with different end effectors to complete different task requirements;

2. In the six-wheel leg mobile operation robot experimental platform of the present invention, the operating leg assembly has certain versatility, and can be used not only for the robot platform in the present invention, but also for other platforms such as robots and mechanical arms;

3. The control of the experimental platform of the six-wheel leg mobile operation robot of the present invention is no longer limited to the PC end, but can also be controlled by ordinary mobile phones and tablet computers. Due to the expansion of the Android control software at the mobile phone end and the tablet end, the control of the robot is more efficient. convenient.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of an experimental platform for a six-wheel leg mobile operation robot of the present invention;

Fig. 2 is the single-leg structure schematic diagram of structure one in the experimental platform of the six-wheel leg mobile operation robot of the present invention;

Figure 3 is a schematic diagram of the installation method between the steering gear and the leg segment in the single-leg structure;

Fig. 4 is a schematic diagram of a single leg structure of structure 2 in the experimental platform of the six-wheel leg mobile operation robot of the present invention;

Fig. 5 is a schematic diagram of the structure of a single leg when the experimental platform of the six-wheel leg mobile operation robot of the present invention is standing;

Fig. 6 is a schematic diagram of the structure of a single leg when the wheel is walking in the experimental platform of the six-wheel leg mobile operation robot of the present invention;

Fig. 7 is a schematic diagram of the main body structure of the robot in the experimental platform of the six-wheel leg mobile operation robot of the present invention;

Fig. 8 is a schematic diagram of the layered structure inside the shell of the robot main body in the experimental platform of the six-wheel leg mobile operation robot of the present invention;

Fig. 9 is a structural block diagram of the remote control terminal of the six-wheel leg mobile operation robot experimental platform of the present invention.

1-robot body 2-single-leg structure 3-rudder plate

4-Protruding shaft 5-Bearing 6-Wheel

7-Actuator connector 8-End effector 9-Xtion PRO LIVE camera

10-IMU 11-Servo driver board 12-Main control board

13-Battery box 14-Charging interface 15-Power switch

101-shell 102-perimeter cover 201-first leg section

202-Second Leg Section 203-Third Leg Section 204-First Servo

205-Second steering gear 206-Third steering gear 207-Fourth steering gear

208-foot detection mechanism 901-base 902-inverted U-shaped bracket

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings.

The six-wheeled leg mobile operation robot experimental platform of the present invention includes a robot body 1 and six robot single-leg structures 2. As shown in FIG.

Generally, in order to realize the free movement of the foot end in space when the robot walks, the single-leg structure 2 degrees of freedom must be at least 3, and the more the 2 degrees of freedom of the single-leg structure of the robot, the more flexible the legs are, but the design, control difficulty and quality of the legs will gradually increase. In the present invention, the six robot single-leg structures 2 all adopt three steering gears to output three degrees of freedom to realize the basic walking function.

Single-leg structure 2 is designed into two kinds of structures by function type among the present invention:

The first structure is a wheel-leg structure with walking and wheeling functions, as shown in Figure 2, with three leg sections and four driving steering gears. Let the three leg sections be respectively the first leg section, the second leg section, and the third leg section, and the four driving steering gears be respectively the first steering gear, the second steering gear, the third steering gear, and the fourth steering gear. Wherein, one end of the first leg section is fixedly installed on the output shaft of the first steering gear to form a hip joint; the axis of the output shaft of the first steering gear 204 is perpendicular to the horizontal plane, and the first steering gear 204 drives the first leg section 201 to swing laterally. The second steering gear 205 is fixedly installed on the other end of the first leg section 201, and the output shaft of the second steering gear 205 is fixed to one end of the second leg section 202 to form a knee joint; The axis of the output shaft is vertical, and the second leg section 202 is driven to swing longitudinally by the second steering gear 205 . The other end of the second leg section 202 is fixed to the output shaft of the third steering gear 206 to form an ankle joint; the axis of the output shaft of the third steering gear 206 is parallel to the axis of the output shaft of the second steering gear 205, and the third leg is driven by the third steering gear 206 Section 203 swings longitudinally.

The connection mode between the steering gear at the above hip joint, knee joint and ankle joint and the first leg section 201, the second leg section 202, and the third leg section 203 is the same, as shown in Figure 3, wherein the output shaft of the steering gear The rudder plate 3 is fixed by screws, and the rudder plate 3 is embedded in the groove designed on the connection position of the end of the leg section; The part is connected with the other side connection position of the leg joint end through the bearing 5. Therefore, the steering gear transmits the power to the leg joint through the above connection method, which reduces the use of bearings and achieves the purpose of weight reduction.

The above-mentioned third leg section 203 is designed to bend toward the direction of the robot main body 1, and the bending angle is 140 degrees; the fourth steering gear 207 is located at the bend, and the axis of the output shaft of the fourth steering gear 207 is aligned with the axis of the output shaft of the third steering gear 203. In parallel, the output shaft of the fourth steering gear 207 is coaxially fixed with a wheel 6 through a spline, and the fourth steering gear 207 drives the wheel 6 to rotate.

The other end of the third leg section 203 is equipped with a foot-ground detection mechanism 208 for the contact between the single-leg structure 2 and the ground, and at the same time can realize the detection of the foot-ground contact state. The above-mentioned foot-ground detection mechanism 208 can adopt a foot-end touch-ground detection mechanism suitable for legged robots disclosed in the invention patent with publication number CN104816766A. This foot-ground contact detection device is essentially a contact switch installed at the foot end.

Structure 2 is a leg-arm operation structure with walking and operation functions. As shown in FIG. and are respectively replaced by the actuator connector 7 and the end effector 8, then the end effector 8 is fixedly connected with the third steering gear 206 through the actuator connector 7, and the specific connection method is: the actuator connector 7 adopts a replaceable interface The actuator connector enables the actuator connector 7 to be connected to end effectors 8 of different structures. The end effector 8 is specifically selected according to the operation task. For example, if an object needs to be clamped in the nuclear radiation area, the end effector 8 can use a clamping structure to control the robot to complete the clamping operation; if the robot needs to cut an object, then The end effector 8 adopts a cutting structure, which can control the robot to cut off a specific object. In the present invention, the end effector 8 is designed as a clamping structure. The end effector 8 is driven by a small motor to complete corresponding operation tasks.

The installation method between the single-leg structure 2 of the above-mentioned structure 1 and structure 1 is the same as that of the robot body, and the first steering gear 204 can be directly fixed on the robot body 1; for the structure selection of 6 legs, 5 can be selected. The single-leg structure 2 of structure 1 and the single-leg structure 2 of structure 2; when the robot walks forward, the support forms of the six single-leg structures 2 are different according to different joint poses. According to the principle of bionics , to imitate the single-leg support configuration when the cockroach walks, as shown in Figure 5, the hip joint, knee joint and ankle joint are driven by the first steering gear 201, the second steering gear 202, and the third steering gear 203 to rotate, and the adjustment of the three The posture of each joint realizes the forward and backward swing or longitudinal movement of the single-leg structure 2, and advances according to different gaits; at the same time, the end effector 8 in the single-leg structure 2 of the structure 2 is used as the walking foot end to support the robot to walk. In terms of the structure selection of 6 legs, a single-leg structure 2 with 4 structures 1 and 2 structures 2 can also be used, and the coordinated operation of both limbs can be realized through the single-leg structure 2 with 2 structures 2. When the robot is wheeled forward, it can drive the knee joints and ankle joints in at least three of the single-leg structures 2 to rotate to change the configuration of the single-leg structure 2, so that the wheels 6 in the single-leg structure 2 are on the ground, as shown in Figure 6 , to realize wheel motion.

The robot body 1 is composed of a shell 101 and a peripheral cover 102, as shown in FIG. 7 ; both are made by 3D printing, and the material is plastic, which is light in weight and suitable for hardness, and has a short processing cycle, which is convenient for the shape control of the robot body 1 . The peripheral cover 102 is installed on the outside of the casing 101 , and an installation opening of the single-leg structure 2 is reserved in the circumferential direction; the peripheral cover 102 is used to protect the casing 101 and the internal control system of the casing 101 . In the above-mentioned robot body 1, the shell 101 adopts a nearly cylindrical body, and the interior is divided into four layers by an aluminum alloy plate with weight-reducing holes, as shown in FIG. 8 , from top to bottom are the sensing layer, driving layer, and control layer And the power layer, used to install the control system.

Wherein, an Xtion PRO LIVE camera 9 and an IMU (inertial navigation unit) 10 are installed on the sensing layer; the Xtion PRO LIVE camera 9 is located outside the casing 101, and its base 901 is located in the sensor layer, and is fixedly mounted on an inverted U-shaped bracket 902, The inverted U-shaped bracket 902 is fixed on the upper surface of the sensing layer. The IMU 10 is fixed on the sensor layer and located in the inverted U-shaped bracket 902 , thereby achieving a compact design and reducing the volume of the robot. The above-mentioned Xtion PRO LIVE camera 9 has two functions: one is to collect environmental information to realize simultaneous positioning and map creation (Simultaneous Localization and Mapping, SLAM, simultaneous positioning and map creation); the other is to obtain human information for human-computer interaction . Xtion PRO LIVE camera 9 includes 2 cameras, one RGB camera and one depth camera; the effective distance of the depth camera is between 0.8m and 3.5m. In addition, the microphones on both sides of the Xtion PRO LIVE camera 9 form a microphone array, which can effectively obtain sound information in the environment, and can be used to realize natural human-computer interaction methods such as voice control. The IMU10 uses an inertial navigation unit to obtain the robot's own attitude, assist positioning and create an environmental map. In the present invention, the IMU10 adopts MTI-300AHRS, which can output three-axis acceleration, three-axis angular velocity, and three-axis deflection angle. The breakthrough sensor fusion algorithm XEE (Xsens Estimation Engine) is used inside, which overcomes the limitation of Kalman filter to a certain extent, and the performance close to an optical gyroscope.

Six steering gear drive boards 11 are installed on the driving layer, which are respectively used to control the movement of each steering gear on the six single-leg structures 2 . Six steering gear drive boards 11 are arranged side by side on the upper surface of the drive layer, which can realize parallel computing and has good real-time performance.

A main control board 12 is installed on the control layer, and the main control board 12 is the control center of the robot, which can realize functions such as communication management, sensor data collection, data processing, and drive management. The main control board 12 adopts MIO-2263 series embedded single-board computer, which is equipped with embedded Industrial-grade embedded single-board computer with CeleronJ1900 quad-core processor. The main control board 12 is an x86 architecture, which has good compatibility with various hardware and software, and its high performance can meet the demand for large amount of calculation, and it is developed using the ROS framework.

A battery box 13 is installed on the power layer, and a 12V lithium battery and a 7.4V lithium battery are installed in the battery box 13, so that the robot needs no external power supply, is independent and autonomous, and expands the scope of application of the robot.

The above-mentioned control layer is also designed with a charging interface 14 and a power switch 15; the two ends of the charging wire are respectively connected with the charging interface 14 and the two lithium batteries in the power layer; The power switch 15 is used to control the power-on and power-off of each servo and the main control board 12 in each single-leg structure 2 .

The present invention performs wireless communication with a remote control terminal (mobile phone terminal or tablet terminal) under the WLAN wireless network environment, and is controlled by the remote control terminal. The control terminal adopts the Android system and is designed with a control module; the control module includes a security authentication module, an audio and video playback module, a control module, and an information display module, as shown in Figure 9. Each module in the control terminal is divided into front-end and back-end. The front end is a human-computer interaction interface; the background is responsible for network communication and data processing. Wherein, the security authentication module is used to obtain the user information input by the user, which is encapsulated into a data packet through the background and sent to the main control board 12 of the robot, and the main control board feeds back the login result to the security authentication module for display. The audio and video playback module receives the sound information returned by the Xtion PRO LIVE camera in the hexapod robot and the images collected by the camera through the background, and displays it in the audio and video playback module after decoding in the background. The information display module receives six sets of robot sensing information returned by the IMU, such as attitude, joint angle and joint moment information, and is used to display the sensing information of the hexapod robot, such as attitude, joint angle and joint moment. The control module is composed of multiple controls, which can control the hexapod robot to move forward, backward, turn left, turn right, pause, stop and other actions. At the same time, you can set the robot's travel mode, such as leg travel mode or wheel travel mode.

As for the tablet computer end, since the tablet computer has a larger screen, it can accommodate more functional modules. Compared with the mobile phone terminal, a three-dimensional simulation module is also added on the tablet computer terminal in the present invention. The 3D simulation model synchronously displays the robot's movement and environmental terrain based on the robot's movement and surrounding environment signals returned by the Xtion PRO LIVE camera and IMU module. During the operation of the robot, the 3D simulation module drives the 3D model to move synchronously (low delay) with the real robot according to the joint angle information of the hexapod robot.

Claims (8)

1. six take turns lower limb mobile manipulator device people's experiment porch, including robot body and 6 robot lists Lower limb structure, 6 robot list lower limb structure circumferences are uniformly installed on robot body；It is characterized in that:

Single lower limb structure can be designed as two kinds of structures:

Structure one: there is the wheel lower limb structure of walking and wheel row function, including three leg sections, and 4 driving rudders Machine；Making three leg sections be respectively the first leg section, the second leg section, the 3rd leg section, 4 drive steering wheel to be respectively the One steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel；Wherein, first leg section one end is fixedly mounted on On the output shaft of one steering wheel, form hip joint；First steering wheel output shaft axis and horizontal plane, by first Servo driving the first leg section teeter；Second steering wheel is fixedly installed in the first leg section other end, the second steering wheel Output shaft and second leg section one end are fixed, and form knee joint；Second steering wheel output shaft axis and the first steering wheel are defeated Shaft axis is vertical, by second servo driving the second leg section longitudinal oscillation；The second leg section other end and the 3rd rudder Machine output shaft is fixed, and forms ankle joint；3rd steering wheel output shaft axis is parallel with the second steering wheel output shaft axis, By the 3rd servo driving the 3rd leg section longitudinal oscillation；4th steering wheel is positioned in the middle part of the 3rd leg section, the 4th steering wheel Output shaft axis is parallel with the 3rd steering wheel output shaft axis, and the 4th steering wheel output shaft is coaxially fixed by spline Wheel is installed, by the 4th servo driving wheel turns；The 3rd leg section other end is provided with foot ground testing machine Structure, for single lower limb structure and contacting between ground, can realize the detection of foot ground contact condition simultaneously；

Structure two: there is the lower limb arm operation structure of walking and operating function, remove the 4th on the basis of structure one Steering wheel and wheel；Remove the 3rd leg section and Zu Di testing agency simultaneously, and respectively by executor's connector and end Executor replaces, then end effector is connected by executor's connector and the 3rd steering wheel, and concrete connected mode is: Executor's connector uses executor's connector of replaceable interface, makes executor's connector can connect end and performs Device；

It is divided into four layers by dividing plate inside robot body, is from top to bottom followed successively by sensing layer, drives layer, control Layer and mover layer, for installation control system；Wherein, sensing layer is provided with Xtion PRO LIVE photographic head With IMU；Xtion PRO LIVE photographic head is used for gathering environmental information, it is achieved location and map building simultaneously, And the information of acquisition people, for man-machine interaction；IMU is for obtaining self attitude of robot, auxiliary positioning With establishment environmental map；Drive, on layer, six pieces of actuator driving plates are installed, be respectively used to control 6 single lower limb structures On each steering wheel motion；Master control borad is installed on key-course, it is achieved communication management, sensor data acquisition, The functions such as data process and driven management；Being provided with battery case on mover layer, in battery case, mounting robot is powered Battery；

Robot body and remote control terminal carry out radio communication, remote control terminal be controlled；Remotely control End has security authentication module, audio and video playing module, operational module and information display module；Modules is equal It is divided into front end and backstage；Front end is Man Machine Interface；Network service is responsible on backstage, data process；Wherein, Security authentication module, for obtaining the user profile of user's input, is packaged into packet through backstage and sends to robot Control master control borad in, by master control borad feedback log in result show to security authentication module；Audio and video playing Module receives, by backstage, acoustic information and the image of collected by camera, the warp that Xtion PRO LIVE photographic head returns Show in audio and video playing module after background decoding；Information display module receives six groups of machines that IMU returns Device people's heat transfer agent, as attitude, joint angles and joint moment information are used for showing Hexapod Robot heat transfer agent； Operational module is made up of motion control, can control robot motion；Robot traveling mode can be set simultaneously.

2. a kind of six take turns lower limb mobile manipulator device people's experiment porch, it is characterised in that: Single lower limb structure of 5 structures one and single lower limb structure of 1 structure two are installed on robot body；Or 4 knots are installed Structure one and single lower limb structure of 2 structures two.

3. as described in right wants ball 1, one six takes turns lower limb mobile manipulator device people's experiment porch, it is characterised in that: hip Connected mode between the steering wheel of joint, knee joint and ankle and the first leg section, the second leg section, the 3rd leg section Identical, wherein it is mounted by means of screws with steering wheel on steering wheel output shaft, steering wheel embeds the side, end of leg section even Connect the groove inner position of design on position；The output shaft of steering wheel is coaxially installed with projecting shaft, and projecting shaft end leads to Cross bearing be connected with leg section end opposite side position be connected.

4. as described in right wants ball 1, one six takes turns lower limb mobile manipulator device people's experiment porch, it is characterised in that: machine Periphery cover is installed additional, the installing port of reserved single lower limb structure in periphery cover circumference outside device human body；By periphery cover to machine Device people originally protect.

5. as described in right wants ball 1, one six takes turns lower limb mobile manipulator device people's experiment porch, it is characterised in that: Xtion PRO LIVE photographic head is positioned at outside robot body, and base is positioned at sensor layer, is fixedly mounted on On inverted U support, inverted U support is fixed on sensing layer upper surface；IMU is positioned at inverted U support.

6. as described in right wants ball 1, one six takes turns lower limb mobile manipulator device people's experiment porch, it is characterised in that: six Block actuator driving plate is disposed side by side on driving layer upper surface, it is possible to achieve parallel computation, real-time is good.

7. as described in right wants ball 1, one six takes turns lower limb mobile manipulator device people's experiment porch, it is characterised in that: control Charging inlet and on and off switch it is also devised with on preparative layer；Charging conductor two ends respectively with in charging inlet and mover layer Two pieces of lithium batteries are connected；External power supply is thus made to be come for lithium cell charging by charging inlet；On and off switch is used Control electricity under the powering on of each steering wheel in every single lower limb structure and master control borad.

8. as described in right wants ball 1, one six takes turns lower limb mobile manipulator device people's experiment porch, it is characterised in that: remote Process control end also has three-dimensional artificial module；Three-dimensional artificial mould is according to Xtion PRO LIVE photographic head and IMU mould The robot motion of block return and surrounding signals, simultaneous display robot motion and environment terrain；At machine In device people's running, three-dimensional artificial module according to Hexapod Robot joint angles information, drive threedimensional model with Real machine people be synchronized with the movement.