CN108214519B - Self-adjusting quadruped robot from any attitude to landing attitude in air - Google Patents

Self-adjusting quadruped robot from any attitude to landing attitude in air Download PDF

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Publication number
CN108214519B
CN108214519B CN201711366306.9A CN201711366306A CN108214519B CN 108214519 B CN108214519 B CN 108214519B CN 201711366306 A CN201711366306 A CN 201711366306A CN 108214519 B CN108214519 B CN 108214519B
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steering engine
steering
joint frame
axis
trunk body
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CN108214519A (en
Inventor
裴旭
欧阳若愚
周威
陈逸农
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Beihang University
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Beihang University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Toys (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a quadruped robot capable of self-adjusting from any attitude to landing attitude in the air, which comprises a steering engine control unit, a steering engine and a quadruped robot. The quadruped robot is provided with a body and leg units capable of spatial two-degree-of-freedom motion, and can be adjusted to a landing posture from any posture in space to reach the ground through conical pendulum motion of the leg units in different directions. Four leg units of the quadruped robot are respectively provided with a steering engine, and the steering engines are controlled by steering engine commands output by a steering engine control unit. The steering engine control unit controls each steering engine by adopting the adjusting sequence of X axis → Y axis → Z axis. When the robot provided by the invention is used for bearing the satellite structure body, the attitude adjustment of the satellite which stably falls to the ground and is free of external force can be realized.

Description

Self-adjusting quadruped robot from any attitude to landing attitude in air
Technical Field
The invention relates to a quadruped robot, in particular to a quadruped robot capable of self-adjusting from any attitude to landing attitude in the air. The robot can realize the attitude adjustment of the satellite stably landed in the space without external force.
Background
In recent years, in the research of robots, especially the research of the bionic quadruped robot has been receiving attention. With the complication of the working environment and the working task of the robot, the robot is required to have higher motion flexibility and adaptability to special unknown environments, such as jumping and high-altitude operation falling processes, and the posture of the robot needs to be controlled.
Application publication No. CN103112513A, application publication No. 2013, 05 and 22, discloses a locust-simulated robot with posture adjustment function, which utilizes the swing of the tail to make the robot pitch and yaw.
However, because no external force acts in the air, the air attitude control of the existing robot is difficult, the robot is generally limited to single-degree-of-freedom and small-range adjustment motion, and the whole arbitrary attitude adjustment of the robot cannot be realized; if the robot is subjected to attitude adjustment by using a flywheel or the like, the volume, the mass and the system complexity of the robot are increased.
Disclosure of Invention
The invention aims to provide a quadruped robot capable of self-adjusting from any posture to a landing posture in the air. The quadruped robot controls and adjusts the aerial posture of the quadruped robot through the conical pendulum motion of the four leg units, does not need to add an additional adjusting mechanism or equipment, and can be widely applied to the fields of robots and spacecrafts. The quadruped robot can be used for attitude adjustment of a satellite with a plurality of working mechanical arms in a space gravity-free environment.
Another object of the present invention is to provide an attitude control method suitable for air attitude transformation of a four-footed robot, which realizes adjustment of arbitrary attitude without external force by using only conical pendular motions of four limbs of the four-footed robot. The invention decomposes the adjustment of any spatial posture into the rotation in three orthogonal directions (X, Y, Z axes), finally the robot is adjusted to a proper (fixed and damage-reducing) posture to the landing (or other required postures), and then the target posture is achieved by the different modes of swinging of the legs. The degree of freedom of each leg unit on the four-foot robot mechanism designed by the invention is more than 2, and the conical swing motion of the leg units (namely the leg units rotate around a certain point and the swept path of the leg units is a conical surface) is realized by utilizing the joint frame to bear the steering engine. The attitude control method is simple and clear, does not need to introduce additional mechanisms and spaces, can be better applied to the design and control of various quadruped robots, and increases the flexibility of the robots in the air. The control method is suitable for the quadruped robot with falling risk in high-altitude operation and the like, realizes self protection of the robot and the undertaker, and can also be applied to posture adjustment of a spacecraft with a working mechanical arm.
When the quadruped robot rotates from any posture to the landing posture, the quadruped robot firstly turns around the X axis, starting from the initial posture 1, and then the four leg units simultaneously turn overThe self-winding of the straight line parallel to the X axis makes conical swing motion relative to the trunk body 1, and the conical swing motion of the four leg units is synchronous and in the same direction; according to the principle of conservation of angular momentum, the trunk body 1 will rotate around the X-axis by theta in the opposite direction to the conical pendulum motion of the four leg unitsxThe angle is adjusted to the initial posture 2 ready to rotate around the Y axis, and the overturning motion of the whole robot around the X axis is realized. The robot is then ready to enter the next stage (rotation about the Y axis) of adjustment, where the four leg units are all in the same plane and parallel to the X axis, requiring the leg units to be swung into a position that is all in the same plane and parallel to the Y axis. Therefore, under the condition that the four leg units are arranged along the X axis, the steering engines connecting the four leg units and the body respectively rotate clockwise and anticlockwise by 90 degrees to obtain the postures of the four leg units arranged along the Y axis. Then the robot turns around the Y axis, at the moment, the trunk body 1 and the four leg units are tiled, the four leg units are parallel to the Y axis, and then the four leg units are lifted upwards at the same time; then the four leg units simultaneously and respectively do conical pendulum motion around a straight line parallel to the Y axis, and the conical pendulum motion of the four leg units is synchronous and in the same direction; according to the principle of conservation of angular momentum, the trunk body 1 will rotate around the Y-axis by theta in the opposite direction to the conical pendulum motion of the four leg unitsyThe angle is adjusted to the initial posture 3 ready to rotate around the Z axis, and the overturning motion of the whole robot around the Y axis is realized. The robot prepares to enter the adjustment stage of next stage (rotatory around the Z axle) afterwards, and four leg units all are located the coplanar and are on a parallel with the Y axle this moment, need swing leg unit to all be on a parallel with the Z axle to two leg units are up, the gesture that two leg units are down, and leg unit reaches this gesture after 90 degrees rotations, and truck body 1 tiling this moment, two leg units are up, two leg units are down, and four leg units all are on a parallel with the Z axle. Then the four leg units respectively and simultaneously make conical pendulum motion around respective straight lines which pass through the center points of the hinges and are parallel to the Z axis, and the conical pendulum motion of the four leg units is synchronous and in the same direction; according to the principle of conservation of angular momentum, the trunk body 1 will rotate around the Z-axis in the opposite direction to the conical pendulum motion of the four leg units when the trunkThe dry body 1 being rotated about the Z axis by thetazDuring the angle, the leg unit stops the cone pendulum motion, all gets back to being on a parallel with the Z axle simultaneously afterwards to two leg units are up, two leg units gesture down, and two ascending leg units swing 180 degrees downwards next, and directional the same with two leg units that point to down, make the robot adjust to the gesture of falling to the ground, four leg units are downward this moment, are ready to meet and land to the ground.
The invention discloses a quadruped robot capable of self-adjusting from any attitude to landing attitude in the air, which is characterized in that: the four-legged robot comprises a trunk body (1), a left front limb (2), a left rear limb (3), a right front limb (4), a right rear limb (5), a first joint frame (6), a second joint frame (7), a third joint frame (8), a fourth joint frame (9) and (8) steering engines;
wherein the left front limb (2), the left rear limb (3), the right front limb (4) and the right rear limb (5) have the same structure;
the first joint frame (6), the second joint frame (7), the third joint frame (8) and the fourth joint frame (9) are identical in structure;
wherein, the (8) steering engines are an A steering engine (10A), a B steering engine (10B), a C steering engine (10C), a D steering engine (10D), an E steering engine (10E), an F steering engine (10F), a G steering engine (10G) and an H steering engine (10H);
the left front leg unit (11A) is composed of a left front limb (2), a first joint frame (6) and two steering engines (10A and 10B); an A steering engine (10A) is arranged between an AA support arm (1A) of the trunk body (1) and the first joint frame (6), and a B steering engine (10B) is arranged between the first joint frame (6) and the left forelimb (2); a rudder plate A (10A1) of the steering engine A (10A) is fixed in an AA rudder plate groove (1A1) of an AA support arm (1A) of the trunk body (1), and a shell of the steering engine A (10A) is fixed in a rudder machine cavity A (6B) of the first joint frame (6); a steering wheel B (10B1) of the steering engine B (10B) is fixed in a steering wheel B groove (6A1) of a BA support arm (6A) of the first joint frame (6), and a shell of the steering engine B (10B) is fixed in a steering engine B cavity (2A1) of the left forelimb (2);
the left rear leg unit (11B) is composed of a left rear limb (3), a second joint frame (7) and two steering engines (10C and 10D); a C steering engine (10C) is arranged between the AB support arm (1B) of the trunk body (1) and the second joint frame (7), and a D steering engine (10D) is arranged between the second joint frame (7) and the left hind limb (3); a C steering wheel (10C1) of the C steering engine (10C) is fixed in an AB steering wheel groove (1B1) of an AB support arm (1B) of the trunk body (1), and a shell of the C steering engine (10C) is fixed in a C steering engine cavity (7B) of the second joint frame (7); a D steering wheel (10D1) of the D steering engine (10D) is fixed in a D steering wheel groove (7A1) of a BB support arm (7A) of the second joint frame (7), and a shell of the D steering engine (10D) is fixed in a D steering engine cavity (3A1) of the left hind limb (3);
the right front leg unit (11C) is composed of a right front limb (4), a third joint frame (8) and two steering engines (10E and 10F); an E steering engine (10E) is arranged between an AC support arm (1C) of the trunk body (1) and a third joint frame (8), and an F steering engine (10F) is arranged between the third joint frame (8) and the right forelimb (4); an E rudder plate (10E1) of the E steering engine (10E) is fixed in an AD rudder plate groove (1D1) of an AD support arm (1D) of the trunk body (1), and a shell of the E steering engine (10E) is fixed in an E rudder chamber 8B of the third joint frame (8); an F steering wheel (10F1) of an F steering engine (10F) is fixed in an F steering wheel groove (8A1) of a BC support arm (8A) of a third joint frame (8), and a shell of the F steering engine (10F) is fixed in an F steering engine cavity (4A1) of a right front limb (4);
the right rear leg unit (11D) is composed of a right rear limb (5), a fourth joint frame (9) and two steering engines (10G, 10H); a G steering engine (10G) is arranged between an AD support arm (1D) of the trunk body (1) and a fourth joint frame (9), and an H steering engine (10H) is arranged between the fourth joint frame (9) and a right rear limb (5); the G steering wheel (10G1) of the G steering engine (10G) is fixed in an AC steering wheel groove (1C1) of an AC support arm (1C) of the trunk body (1), and the shell of the G steering engine 10G is fixed in a G steering engine cavity (9B) of the fourth joint frame (9). An H rudder plate 10H1 of an H steering engine (10H) is fixed in an H rudder plate groove (9A1) of a BD support arm (9A) of a fourth joint frame (9), and a shell of the H steering engine (10H) is fixed in an H rudder engine cavity (5A1) of a right rear limb (5).
The middle part of the trunk body (1) is provided with a central through hole (1G), and a steering engine control system is fixed in the central through hole (1G); four reinforcing ribs are arranged between the upper panel (1E) and the lower panel (1F) of the trunk body (1); four support arms, namely an AA support arm (1A), an AB support arm (1B), an AC support arm (1C) and an AD support arm (1D), are arranged on the lower panel 1F in a pairwise symmetrical and vertical manner;
a steering wheel A (10A) steering wheel is installed in an AA steering wheel groove (1A1) on an AA support arm (1A) of the trunk body (1), and a shell of the steering wheel A (10A) is installed in a steering wheel A cavity (6B) of the first joint frame (6);
a steering wheel of a C steering engine (10C) is arranged in an AB steering wheel groove (1B1) on an AB support arm (1B) of the trunk body (1), and a shell of the C steering engine (10C) is arranged in a C steering engine cavity (7B) of the second joint frame (7);
a steering wheel of an E steering engine (10E) is arranged in an AC steering wheel groove (1C1) on an AC support arm (1C) of the trunk body (1), and a shell of the E steering engine (10E) is arranged in an E steering engine cavity (8B) of the third joint frame (8);
a steering wheel of a G steering engine (10G) is arranged in an AD steering wheel groove (1D1) on an AD support arm (1D) of the trunk body (1), and a shell of the G steering engine (10G) is arranged in a G steering engine cavity (9B) of a fourth joint frame (9);
one end of the left forelimb (2) is a rudder machine cavity B (2A), and the other end of the left forelimb (2) is a left front I-shaped foot body (2B);
one end of the left hind limb (3) is a D-rudder machine cavity (3A), and the other end of the left hind limb (3) is a left hind I-shaped foot body (3B);
one end of the right forelimb (4) is an F-shaped rudder machine cavity (4A), and the other end of the right forelimb (4) is a right front I-shaped foot body (4B);
one end of the right rear limb (5) is an H-shaped rudder machine cavity (5A), and the other end of the right rear limb (5) is a right rear I-shaped foot body (5B).
The method for adjusting the air posture of the quadruped robot has the advantages that:
① the four-legged robot mechanism has simple and light design, is easy to control, and can quickly realize X, Y, Z three-axial attitude control.
② the posture transformation method provided by the bionics principle analysis can realize the whole posture control of the robot through the two-freedom-degree movement of the leg unit, can be directly applied to various quadruped robots, has wide application range, does not need redundant structures of the mechanism (such as tail part, flywheel and the like), and reduces the complexity of the mechanism.
③ robot adopts the order of X axle → Y axle → Z axle to carry out the attitude adjustment mode of each steering engine control different, through this attitude transformation method, carries out the attitude transformation three times at most around X, Y, Z triaxial in proper order, and the robot of arbitrary air gesture all can be adjusted to the gesture of falling to the ground.
Drawings
Fig. 1 is a structural view of the quadruped robot of the present invention.
Fig. 1A is an exploded view of the quadruped robot of the present invention.
Fig. 2 is a structural view of a leg unit in the four-footed robot of the present invention.
Fig. 2A is an exploded view of a leg unit in the four-footed robot of the present invention.
Figure 3 is a block diagram of the left forelimb of the present invention.
Fig. 4 is a structural view showing a landing posture of the quadruped robot of the present invention.
Fig. 5 is a structural view of the quadruped robot in the turning posture around the X-axis.
Fig. 5A is a schematic view of the quadruped robot in the attitude of turning around the X-axis.
Fig. 5B is a schematic diagram of the motion of the quadruped robot of the present invention turning around the X-axis.
FIG. 5C is the control diagram of the steering engine for the quadruped robot to turn around the X axis.
Fig. 6 is a structural view of the quadruped robot in the turning posture around the Y axis.
Fig. 6A is a schematic view of the flipping attitude of the quadruped robot of the present invention about the Y-axis.
Fig. 6B is a schematic diagram of the turning motion of the quadruped robot about the Y-axis.
FIG. 6C is the control diagram of the steering engine for the quadruped robot to turn around the Y axis.
Fig. 7 is a structural view of the flipping posture of the quadruped robot of the present invention around the Z-axis.
Fig. 7A is a schematic view of the flipping position of the quadruped robot about the Z-axis in accordance with the present invention.
Fig. 7B is a schematic view of the Z-axis flipping motion of the quadruped robot of the present invention.
FIG. 7C is the control diagram of the steering engine for the quadruped robot to turn around the Z axis.
1. Trunk body AA support arm 1A1.AA rudder wheel groove
1B.AB arm 1B1.AB steering wheel groove 1C.AC support arm
1C1.AC rudder disk slot 1D.AD support arm 1D1.AD rudder wheel groove
1E. upper panel 1F. lower panel 1G central rudder plate groove
2. Left forelimb 2A.B steering engine cavity 2B left front I-shaped foot body
3. Left hind limb 3A.D steering engine cavity 3B left rear I-shaped foot body
4. Right forelimb 4A.F steering engine cavity 4B, right front I-shaped foot body
5. Right hind limb 5A.H steering engine cavity 5B right rear I-shaped foot body
6. First joint support BA arm 6A1.B rudder plate groove
6B.A steering engine cavity 7. Second joint support 7A.BB mounting arm
7A1.D rudder plate groove 7B.C steering engine cavity 8. Third joint frame
BC support arm 8A1.F rudder plate groove 8B.E steering engine cavity
9. Fourth joint frame BD arm 9A1.H rudder wheel groove
9B.G steering engine cavity 10A.A steering engine 10A1.A rudder wheel
10B.B steering engine 10B1.B steering wheel 10C.C steering engine
10C1.C steering wheel 10D.D steering engine 10D1.D steering wheel
10E.E steering engine 10E1.E rudder wheel 10F.F steering engine
10F1.F steering wheel 10G.G steering engine 10G1.G rudder wheel
10H.H steering engine 10H1.H rudder wheel 11A left front leg unit
11B left rear leg unit 11C. Right front leg Unit 11D. right rear leg Unit
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1 and fig. 1A, the invention relates to a four-footed robot with self-adjustment from any attitude to landing attitude in the air, which comprises a body 1, a left forelimb 2, a left hind limb 3, a right forelimb 4, a right hind limb 5, a first joint frame 6, a second joint frame 7, a third joint frame 8, a fourth joint frame 9 and 8 steering engines;
wherein, the left front limb 2, the left rear limb 3, the right front limb 4 and the right rear limb 5 have the same structure;
the first joint frame 6, the second joint frame 7, the third joint frame 8 and the fourth joint frame 9 have the same structure;
wherein, 8 steering engines refer to A steering engine 10A, B steering engine 10B, C steering engine 10C, D steering engine 10D, E steering engine 10E, F steering engine 10F, G steering engine 10G and H steering engine 10H.
Referring to fig. 2 and 2A, the left front leg unit 11A is composed of a left front limb 2, a first joint frame 6 and two steering engines (10A and 10B); an A steering engine 10A is installed between the AA support arm 1A of the trunk body 1 and the first joint frame 6, and a B steering engine 10B is installed between the first joint frame 6 and the left forelimb 2. The A steering wheel 10A1 of the A steering engine 10A is fixed in the AA steering wheel groove 1A1 of the AA support arm 1A of the trunk body 1, and the shell of the A steering engine 10A is fixed in the A steering engine cavity 6B of the first joint frame 6. The B steering wheel 10B1 of the B steering engine 10B is fixed in the B steering wheel groove 6A1 of the BA support arm 6A of the first joint frame 6, and the shell of the B steering engine 10B is fixed in the B steering engine cavity 2A1 of the left forelimb 2.
Referring to fig. 2 and 2A, the left rear leg unit 11B is composed of a left rear limb 3, a second joint frame 7 and two steering engines (10C and 10D); a C steering engine 10C is installed between the AB support arm 1B of the trunk body 1 and the second joint frame 7, and a D steering engine 10D is installed between the second joint frame 7 and the left hind limb 3. The C steering wheel 10C1 of the C steering engine 10C is fixed in the AB steering wheel groove 1B1 of the AB support arm 1B of the trunk body 1, and the shell of the C steering engine 10C is fixed in the C steering engine cavity 7B of the second joint frame 7. The D steering wheel 10D1 of the D steering engine 10D is fixed in the D steering wheel groove 7A1 of the BB support arm 7A of the second joint frame 7, and the shell of the D steering engine 10D is fixed in the D steering engine cavity 3A1 of the left hind limb 3.
Referring to fig. 2 and 2A, the right front leg unit 11C is composed of a right front limb 4, a third joint frame 8 and two steering engines (10E, 10F); an E steering engine 10E is arranged between the AC support arm 1C of the trunk body 1 and the third joint frame 8, and an F steering engine 10F is arranged between the third joint frame 8 and the right forelimb 4. An E rudder plate 10E1 of the E rudder 10E is fixed in an AD rudder plate groove 1D1 of an AD arm 1D of the trunk body 1, and a housing of the E rudder 10E is fixed in an E rudder cavity 8B of the third joint frame 8. The F rudder plate 10F1 of the F rudder 10F is fixed in the F rudder plate groove 8A1 of the BC arm 8A of the third joint carrier 8, and the housing of the F rudder 10F is fixed in the F rudder chamber 4a1 of the right front limb 4.
Referring to fig. 2 and 2A, the right rear leg unit 11D is composed of a right rear limb 5, a fourth joint frame 9 and two steering engines (10G, 10H); a G steering engine 10G is installed between the AD support arm 1D of the trunk body 1 and the fourth joint frame 9, and an H steering engine 10H is installed between the fourth joint frame 9 and the right hind limb 5. The G steering wheel 10G1 of the G steering engine 10G is fixed in the AC steering wheel groove 1C1 of the AC support arm 1C of the trunk body 1, and the shell of the G steering engine 10G is fixed in the G steering engine cavity 9B of the fourth joint frame 9. The H rudder plate 10H1 of the H steering engine 10H is fixed in the H rudder plate groove 9A1 of the BD arm 9A of the fourth joint frame 9, and the housing of the H steering engine 10H is fixed in the H steering engine cavity 5a1 of the right hind limb 5.
The quadruped robot of the invention realizes the integral turnover of the quadruped robot by utilizing the conical pendulum motion synthesized by the steering engines (as shown in figure 4) with two mutually perpendicular axes between the four leg units and the trunk body 1.
Trunk body 1
Referring to fig. 1, 1A and 2A, the middle of the trunk body 1 is a central through hole 1G, and a control system for controlling the four-legged robot to complete the movement is fixed in the central through hole 1G. Four reinforcing ribs are arranged between the upper panel 1E and the lower panel 1F of the trunk body 1 and used for reinforcing the bearing of the joint frames and the legs connected to the four support arms. Four support arms, namely an AA support arm 1A, AB support arm 1B, AC support arm 1C and an AD support arm 1D, are vertically arranged on the lower panel 1F in a pairwise symmetrical manner.
A steering wheel 10A steering wheel is installed in an AA steering wheel groove 1A1 on an AA support arm 1A of the trunk body 1, and a shell of the A steering wheel 10A is installed in a steering wheel cavity 6B of the first joint frame 6.
A steering wheel of a C steering engine 10C is installed in an AB steering wheel groove 1B1 on an AB support arm 1B of the trunk body 1, and a shell of the C steering engine 10C is installed in a C steering engine cavity 7B of the second joint frame 7.
A rudder plate of an E steering engine 10E is arranged in an AC rudder plate groove 1C1 on an AC support arm 1C of the trunk body 1, and a shell of the E steering engine 10E is arranged in an E steering engine cavity 8B of the third joint frame 8.
A steering wheel of a G steering engine 10G is installed in an AD steering wheel groove 1D1 on an AD support arm 1D of the trunk body 1, and a shell of the G steering engine 10G is installed in a G steering engine cavity 9B of the fourth joint frame 9.
Left forelimb 2
Referring to fig. 1, fig. 1A, fig. 2A and fig. 3, one end of the left forelimb 2 is a steering engine cavity B2A, and the other end of the left forelimb 2 is a left front i-shaped foot body 2B.
According to the same principle of fig. 3, one end of the left hind limb 3 is a D steering engine cavity 3A, and the other end of the left hind limb 3 is a left rear I-shaped foot body 3B. One end of the right forelimb 4 is an F steering engine cavity 4A, and the other end of the right forelimb 4 is a right front I-shaped foot body 4B. One end of the right rear limb 5 is an H-shaped rudder cavity 5A, and the other end of the right rear limb 5 is a right rear I-shaped foot body 5B.
In the invention, because the tail end structures of the four leg units (11A, 11B, 11C and 11D) are the same, the free falling body is contacted with the ground by adopting the I-shaped foot body, and the stability of the four-foot robot for falling to the ground downwards after the four-foot robot is integrally turned over is improved. As shown in the state diagram of the four-footed landing.
Method for adjusting air arbitrary attitude to ground attitude
The invention relates to a quadruped robot capable of self-adjusting from any attitude to landing attitude in the air, wherein conical pendulous motions of four leg units (11A, 11B, 11C and 11D) are controlled by four steering engines, and the four steering engines are controlled by a steering engine control unit. In fig. 5A, 5B, 6A, 6B, 7A, and 7B, Q1 denotes the center of mass point of the first joint frame, Q2 denotes the center of mass point of the second joint frame, Q3 denotes the center of mass point of the third joint frame, and Q4 denotes the center of mass point of the fourth joint frame.
The following embodiment shows the method for adjusting the arbitrary attitude of the quadruped robot into the landing attitude in the air, according to the present invention:
firstly, the quadruped robot is in any posture, then the four leg units are controlled by respective steering engine instructions to swing respectively, so that the four leg units are located on the same plane after moving, and the included angles of the trunk body 1 on the X, Y and Z axes relative to the landing posture are set to be respectively
Figure GDA0001564809790000091
The above-mentioned
Figure GDA0001564809790000092
And the command information is also output to each steering engine by the steering engine control unit. Because the posture adjustment process of the quadruped robot needs to be decomposed into the movements around the X axis → the Y axis → the Z axis in sequence according to the Euler angle formula, the rotation angle which is turned by the sequential movements around the X, Y and Z axes can be obtained as theta according to the Euler angle formulax,θy,θz。
Psi denotes the angle of the four leg units required to move around the X-axis in the command information output to the steering engine by the steering engine control unit when the legs are parallel to the X-axis (see fig. 5B), which is referred to as the pivot angle of the four leg units moving around the X-axis.
β shows the angle at which the steering engine control unit outputs command information to the steering engine that requires the four leg units to move about the Y-axis when the legs are parallel to the Y-axis (see fig. 6B).
Figure GDA0001564809790000093
When the legs are parallel to the Z-axis, the steering engine control unit outputs command information to the steering engine, which requires the angles of the four leg units moving around the Z-axis (see fig. 7B).
θxIs the angle of rotation of the leg about the X-axis according to the euler angle formula.
θyIs the angle of rotation of the leg about the Y-axis according to the euler angle formula.
θzIs the angle of rotation of the leg about the Z axis according to the euler angle formula.
In the invention, the turning angle when the landing posture is obtained according to the Euler angle formula is recorded as:
Figure GDA0001564809790000094
wherein
Figure GDA0001564809790000095
For the angle transformation matrix from any attitude to the target attitude, the steering engine command information is used
Figure GDA0001564809790000096
The angle can obtain the rotation angle theta of the four limbs moving sequentially around the X axis → Y axis → Z axisx,θy,θz。
The sequential motion of the four leg units of the quadruped robot around the X axis → the Y axis → the Z axis is determined by the expansion mode of the Euler angle formula, and the rotation angle theta of the sequential motion is determined by the different expansion modes to ensure that the motion sequences of the X, Y and Z axes are differentx,θy,θzAs well as being different. The quadruped robot designed by the invention firstly rotates around an X axis, then rotates around a Y axis and finally rotates around a Z axis to finally reach a landing posture; the specific movement is decomposed into:
(A) firstly, turning the quadruped robot around an X axis:
the quadruped robot is in an arbitrary posture, the four leg units are swung to make the four leg units all located on the same plane, as shown in fig. 5A, which is called an initial posture, and then the quadruped robot entersThe rows are turned over and the four leg units are simultaneously lifted upwards as shown in fig. 5B; then the left two leg units simultaneously make conical pendulum motion around the connecting line of Q1Q2 relative to the trunk body 1, the right two leg units simultaneously make conical pendulum motion around the connecting line of Q3Q4 relative to the trunk body 1, and the conical pendulum motion of the four leg units is synchronous and in the same direction; according to the principle of conservation of angular momentum, the trunk body 1 will rotate around the X-axis by theta in the opposite direction to the conical pendulum motion of the four leg unitsxThe angle is adjusted to the posture ready to rotate around the Y axis, so that the overturning motion of the whole robot around the X axis is realized.
In the process of overturning around the X axis, under the action of no external force, the angular momentum of the whole robot is conserved, the angular momentum of the leg units and the trunk body 1 rotating around the X axis is always unchanged, and the angular momentum is marked as 0 in the initial state, so that the angular momentum of the quadruped robot is always 0 in the process of rotating around the X axis, and the rotating angular speed of the trunk body 1 can be obtained by calculating the sum of the angular momentums of the four leg units and the trunk body 1 around the X axis.
The rotation angular velocity of the trunk body 1 on the X axis and the angular velocity of the leg unit during the conical pendulum movement are as follows:
Figure GDA0001564809790000101
ω1is the swivel angular velocity of the trunk body 1.
ω2The angular velocity of the leg unit during the conical pendulum motion.
m1Is the mass of the trunk body 1.
m2Is the mass of the leg unit.
L is the length of the leg unit.
a is the distance between the first joint and the third joint.
R is the cross-sectional radius of the leg unit.
Psi is the yaw angle of the motion about the X-axis.
J0' is the moment of inertia of the torso body 1 about the X-axis.
Reducing equation (2) to obtain equation (3):
ω1＝k·ω2(3)
in formula (4) by the letter k
Figure GDA0001564809790000102
In the present invention, the desired angle θ is passedxAnd the required time txThe rotation around the X axis is completed internally, and the rotation angular speed omega required by the trunk body 1 can be calculated1I.e. by
Figure GDA0001564809790000103
According to omega1And omega2The calculation formula of (2) can be obtained
Figure GDA0001564809790000111
Other parameters are given numbers, and omega can be calculated2The values of (1) and the conical swing motion of the leg units are synthesized by the swing of the two steering engines on each leg unit in the mutually perpendicular direction, so the control laws of the swing angle and the time of the two steering engines are a sine function and a cosine function respectively.
To put the cone into motion omega2The angle change function is decomposed into a group of steering engines, taking the leg unit 11A as an example, the rotation angles of the steering engines 10A and 10B in the initial postures are formulas (4) and (5), and the rotation angles of the posture steering engines 10A and 10B are regulated as shown in fig. 5C.
Figure GDA0001564809790000112
Figure GDA0001564809790000113
θ10AIs the rotation angle of the steering engine 10A.
θ10BIs the rotation angle of the steering engine 10B.
Psi is the yaw angle of the motion about the X-axis.
θxIs the angle of rotation of the leg about the X-axis according to the euler angle formula.
t is the attitude time of the quadruped robot when the quadruped robot is kept in the same plane.
txThe time when the quadruped robot swings around the X axis to the landing posture is shown.
Taking the leg unit 11A as an example, when the rotation angles of the steering engines 10A and 10B are both 0 in the initial posture, and the steering engine 10B is lifted up to the angle ψ (45 degrees in fig. 5B) in the process of entering the conical pendulum motion from the initial posture, then the steering engine 10A starts to swing the sine function, the steering engine 10B starts to swing the cosine function, and they synthesize the conical pendulum motion of the leg unit (starting from 0 at the first time), and when the rotation angle of the trunk body 1 around the X axis reaches the rotation θxWhen the angle is changed, the steering engine stops moving and returns to the position of 0 degree, the conical pendulum movement of the leg units stops, the rotation of the trunk body 1 stops along with the conical pendulum movement according to the conservation of angular momentum, the leg units return to the postures that the four leg units are all positioned on the same plane, and the rotation theta of the trunk body 1 around the X axis is completed until the trunk body 1 rotates around the X axisxThe purpose of the angle.
The robot is then ready to enter the next stage (rotation theta around the Y-axis)yAngle) when all four leg units are in the same plane and parallel to the X-axis, the leg units need to be swung to a posture all in the same plane and parallel to the Y-axis. Due to the symmetry of the structural design of the robot, when the robot moves around the X axis and the Y axis, the adopted movement law is similar to the layout of the four leg units. Therefore, in the case of fig. 5 (four leg units are arranged along the X axis), the steering engine connecting the four leg units to the body is rotated by 90 degrees clockwise and counterclockwise respectively to obtain the posture of fig. 6 (four leg units are arranged along the Y axis). Due to the symmetry of the design, when the four leg units of the robot rotate by 90 degrees, the mass center of the whole quadruped robot cannot move. The leg unit reaches the posture shown in fig. 6 and 6A after being rotated by 90 degrees.
(B) The robot is then rotated about the Y axis:
as shown in fig. 6 and 6A, the trunk body 1 is laid with four leg units parallel to the Y axis. As shown in fig. 6B, the four leg units are simultaneously lifted upward; then both left leg units simultaneously around Q1Q3The connecting line does conical pendulum motion, the two leg units on the right do conical pendulum motion around the connecting line of Q2Q4 at the same time, and the conical pendulum motion of the four leg units is synchronous and in the same direction; according to the principle of conservation of angular momentum, the trunk body 1 will rotate around the Y-axis by theta in the opposite direction to the conical pendulum motion of the four leg unitsyAngle to initial attitude 3 ready to rotate about the Z axis, with the four leg units down as in page 4 of fig. 4.
The posture change of the turn around the Y axis is similar to the change process around the X axis, but since the four leg units undergo 90 degrees of rotation during the adjustment movement before the rotation around the Y axis, the rotation angular velocity of the trunk body 1 on the Y axis and the angular velocity of the leg units during the conical swing movement are the same as those on the X axis, except that the moment of inertia of the trunk body 1 rotating around the Y axis are different.
When the robot is turned around the Y axis, the conical pendulum motion is decomposed into angle change functions of a group of steering engines, taking the leg unit 11A as an example, the rotation angles of the steering engines 10A and 10B in the initial postures are formulas (6) and (7), and the rotation angle rules of the posture steering engines 10A and 10B are shown in FIG. 6C.
Figure GDA0001564809790000121
Figure GDA0001564809790000122
θ10AIs the rotation angle of the steering engine 10A.
θ10BIs the rotation angle of the steering engine 10B.
β is the pivot angle of the motion about the Y axis.
θyIs the angle of rotation of the leg about the Y-axis according to the euler angle formula.
t is the attitude time of the quadruped robot when the quadruped robot is kept in the same plane.
tyThe time when the quadruped robot swings around the Y axis to the landing posture is shown.
Taking leg unit 11A as an example, the rotation angles of steering engines 10A and 10B at the initial attitude are 90 degrees and 0 degree, respectively, and the steering engines enter into the conical pendulum from the initial attitudeDuring the movement, the steering engine 10B is lifted up to an angle β (45 degrees in fig. 6B), and then the conical swing movement of the leg unit is started (time from 0), when the rotation angle of the trunk body 1 around the Y axis reaches the rotation θyWhen the angle is reached, the steering gear stops moving and returns to the position of 0 or 90 degrees (taking the leg unit 11A as an example, the steering gears 10A and 10B return to 90 degrees and 0 degree respectively), the conical swing of the leg unit stops, the rotation of the trunk body 1 also stops according to the conservation of angular momentum, and the trunk body 1 returns to the posture that the four leg units are all positioned on the same plane, so that the rotation theta of the trunk body 1 around the Y axis is completedyThe purpose of the angle.
The robot is then ready to enter the next phase (rotation theta around the Z axis)zAngle) of the leg units, where the four leg units are all located in the same plane and parallel to the Y-axis, the leg units need to be swung to a posture where they are all parallel to the Z-axis, and two leg units face up and two leg units face down. Due to the symmetry of the structural design of the robot, when the four leg units of the robot respectively swing upwards and downwards, the mass center of the whole quadruped robot cannot move. The leg unit reaches the posture shown in fig. 7 and 7A after being rotated by 90 degrees.
(C) And finally, rotating the robot around the Z axis:
as shown in fig. 7 and 7A, the trunk body 1 is laid flat, two leg units are upward, two leg units are downward, and four leg units are parallel to the Z axis. As shown in fig. 7B, the four leg units are deflected at the same time; then the four leg units respectively and simultaneously make conical pendulum motion around respective straight lines which pass through the center points of the hinges and are parallel to the Z axis, and the conical pendulum motion of the four leg units is synchronous and in the same direction; according to the principle of conservation of angular momentum, the trunk body 1 will rotate around the Z axis by theta in the opposite direction to the conical pendulum motion of the four leg unitszAngle when the trunk body 1 rotates about the Z axis thetazDuring the angle, the leg units stop the conical pendulum motion, then all return to being parallel to the Z axle simultaneously to two leg units are up, the gesture of two leg units down, and then two leg units that are up swing 180 degrees downwards, and it is the same with two leg units that point to down to point to, make the robot adjust to the gesture of falling to the ground, and four leg units are downward at this moment like 4 pages of fig. and are ready to meet and land.
When the robot is turned around the Z axis, the conical pendulum motion is decomposed into angle change functions of a group of steering engines, taking the leg unit 11A as an example, the rotation angles of the steering engines 10A and 10B in the initial postures are formulas (8) and (9), and the rotation angle rules of the posture steering engines 10A and 10B are shown in FIG. 7C.
Figure GDA0001564809790000131
Figure GDA0001564809790000132
θ10AIs the rotation angle of the steering engine 10A.
θ10BIs the rotation angle of the steering engine 10B.
Figure GDA0001564809790000133
Is the swing angle of the motion around the Z axis.
θzIs the angle of rotation of the leg about the Z axis according to the euler angle formula.
t is the attitude time of the quadruped robot when the quadruped robot is kept in the same plane.
tzThe time when the quadruped robot swings around the Z axis to the landing posture is shown.
Taking the leg unit 11A as an example, the leg unit 11A needs to be lifted up at the initial posture, so that the rotation angle of the steering engine 10A is 0 degree and the rotation angle of the steering engine 10B is 90 degrees at the initial posture, and the steering engine 10B deflects to an angle in the process of entering conical pendulum motion from the initial posture
Figure GDA0001564809790000141
(135 degrees in fig. 7B), followed by starting the conical swinging motion of the leg unit (time from 0) when the trunk body 1 is rotated about the Z-axis by the angle of rotation θzAt an angle, the steering gear stops moving and returns to the position of 0 or 90 degrees (taking leg unit 11A as an example, steering gears 10A and 10B return to 0 degree and 90 degrees respectively), the conical swing of the leg unit stops, the rotation of trunk body 1 stops according to the conservation of angular momentum, and then the upward leg unitThrough the swing, the posture with the downward direction is achieved, taking the leg unit 11A as an example, the angle of the steering engine 10A is unchanged from 0 degree, and the steering engine 10B swings from 90 degrees to-90 degrees. By this time, the robot is adjusted to a designated posture from any posture, namely the trunk body 1 is tiled, and the four leg units are in a landing posture vertically downward.

Claims (6)

1.A method for adjusting the air posture of a quadruped robot is characterized by comprising the following steps: the quadruped robot is in any posture, and then the four leg units swing to enable the four leg units to be located on the same plane; the included angle of the body of the trunk relative to the landing posture on the X, Y and Z axes is measured, and the included angle is decomposed into a rotation angle theta which is sequentially rotated around the X axis → the Y axis → the Z axis according to an Euler angle formulax,θy,θz(ii) a In the process of overturning around an X, Y, Z shaft, under the action of no external force, the angular momentum of the whole robot is conserved, the angular momentum of the leg units and the trunk body rotating around the X shaft is always unchanged, and the angular momentum is 0 in an initial state, so that the angular momentum of the quadruped robot is always 0 in the process of rotating around the shaft, and the angular velocities of the trunk body rotating around X, Y, Z shafts can be respectively calculated by respectively calculating the sum of the angular momentums of the four leg units and the trunk body around the shaft;
the four-legged robot is composed of a trunk body (1), a left front limb (2), a left rear limb (3), a right front limb (4), a right rear limb (5), a first joint frame (6), a second joint frame (7), a third joint frame (8), a fourth joint frame (9) and 8 steering engines;
wherein the left front limb (2), the left rear limb (3), the right front limb (4) and the right rear limb (5) have the same structure;
the first joint frame (6), the second joint frame (7), the third joint frame (8) and the fourth joint frame (9) are identical in structure;
wherein, 8 steering engines are an A steering engine (10A), a B steering engine (10B), a C steering engine (10C), a D steering engine (10D), an E steering engine (10E), an F steering engine (10F), a G steering engine (10G) and an H steering engine (10H);
the left front leg unit (11A) is composed of a left front limb (2), a first joint frame (6) and two steering engines (10A and 10B); an A steering engine (10A) is arranged between an AA support arm (1A) of the trunk body (1) and the first joint frame (6), and a B steering engine (10B) is arranged between the first joint frame (6) and the left forelimb (2); a rudder plate A (10A1) of the steering engine A (10A) is fixed in an AA rudder plate groove (1A1) of an AA support arm (1A) of the trunk body (1), and a shell of the steering engine A (10A) is fixed in a rudder machine cavity A (6B) of the first joint frame (6); a steering wheel B (10B1) of the steering engine B (10B) is fixed in a steering wheel B groove (6A1) of a BA support arm (6A) of the first joint frame (6), and a shell of the steering engine B (10B) is fixed in a steering engine B cavity (2A1) of the left forelimb (2);
the left rear leg unit (11B) is composed of a left rear limb (3), a second joint frame (7) and two steering engines (10C and 10D); a C steering engine (10C) is arranged between the AB support arm (1B) of the trunk body (1) and the second joint frame (7), and a D steering engine (10D) is arranged between the second joint frame (7) and the left hind limb (3); a C steering wheel (10C1) of the C steering engine (10C) is fixed in an AB steering wheel groove (1B1) of an AB support arm (1B) of the trunk body (1), and a shell of the C steering engine (10C) is fixed in a C steering engine cavity (7B) of the second joint frame (7); a D steering wheel (10D1) of the D steering engine (10D) is fixed in a D steering wheel groove (7A1) of a BB support arm (7A) of the second joint frame (7), and a shell of the D steering engine (10D) is fixed in a D steering engine cavity (3A1) of the left hind limb (3);
the right front leg unit (11C) is composed of a right front limb (4), a third joint frame (8) and two steering engines (10E and 10F); an E steering engine (10E) is arranged between an AC support arm (1C) of the trunk body (1) and a third joint frame (8), and an F steering engine (10F) is arranged between the third joint frame (8) and the right forelimb (4); an E rudder plate (10E1) of the E steering engine (10E) is fixed in an AD rudder plate groove (1D1) of an AD support arm (1D) of the trunk body (1), and a shell of the E steering engine (10E) is fixed in an E rudder chamber 8B of the third joint frame (8); an F steering wheel (10F1) of an F steering engine (10F) is fixed in an F steering wheel groove (8A1) of a BC support arm (8A) of a third joint frame (8), and a shell of the F steering engine (10F) is fixed in an F steering engine cavity (4A1) of a right front limb (4);
the right rear leg unit (11D) is composed of a right rear limb (5), a fourth joint frame (9) and two steering engines (10G, 10H); a G steering engine (10G) is arranged between an AD support arm (1D) of the trunk body (1) and a fourth joint frame (9), and an H steering engine (10H) is arranged between the fourth joint frame (9) and a right rear limb (5); a G steering wheel (10G1) of the G steering engine (10G) is fixed in an AC steering wheel groove (1C1) of an AC support arm (1C) of the trunk body (1), and a shell of the G steering engine (10G) is fixed in a G steering engine cavity (9B) of the fourth joint frame (9); an H steering wheel (10H1) of an H steering engine (10H) is fixed in an H steering wheel groove (9A1) of a BD support arm (9A) of a fourth joint frame (9), and a shell of the H steering engine (10H) is fixed in an H steering engine cavity (5A1) of a right rear limb (5);
the middle part of the trunk body (1) is provided with a central through hole (1G), and a steering engine control system is fixed in the central through hole (1G); four reinforcing ribs are arranged between the upper panel (1E) and the lower panel (1F) of the trunk body (1); four support arms, namely an AA support arm (1A), an AB support arm (1B), an AC support arm (1C) and an AD support arm (1D), are arranged on the lower panel (1F) in a pairwise symmetrical and vertical manner;
a steering wheel A (10A) steering wheel is installed in an AA steering wheel groove (1A1) on an AA support arm (1A) of the trunk body (1), and a shell of the steering wheel A (10A) is installed in a steering wheel A cavity (6B) of the first joint frame (6);
a steering wheel of a C steering engine (10C) is arranged in an AB steering wheel groove (1B1) on an AB support arm (1B) of the trunk body (1), and a shell of the C steering engine (10C) is arranged in a C steering engine cavity (7B) of the second joint frame (7);
a steering wheel of an E steering engine (10E) is arranged in an AC steering wheel groove (1C1) on an AC support arm (1C) of the trunk body (1), and a shell of the E steering engine (10E) is arranged in an E steering engine cavity (8B) of the third joint frame (8);
a steering wheel of a G steering engine (10G) is arranged in an AD steering wheel groove (1D1) on an AD support arm (1D) of the trunk body (1), and a shell of the G steering engine (10G) is arranged in a G steering engine cavity (9B) of a fourth joint frame (9);
one end of the left forelimb (2) is a rudder machine cavity B (2A), and the other end of the left forelimb (2) is a left front I-shaped foot body (2B);
one end of the left hind limb (3) is a D-rudder machine cavity (3A), and the other end of the left hind limb (3) is a left hind I-shaped foot body (3B);
one end of the right forelimb (4) is an F-shaped rudder machine cavity (4A), and the other end of the right forelimb (4) is a right front I-shaped foot body (4B);
one end of the right rear limb (5) is an H-shaped rudder machine cavity (5A), and the other end of the right rear limb (5) is a right rear I-shaped foot body (5B).
2. The method for adjusting the air pose of a quadruped robot according to claim 1, wherein: the rotating angular speed of the trunk body and the angular speed of the leg units during the conical swing motion are as follows:
Figure FDA0002254534410000031
ω1is the rotating angular velocity of the trunk body (1);
ω2the angular velocity of the leg unit during the conical pendulum motion;
m1is the mass of the trunk body (1);
m2is the mass of the leg unit;
l is the length of the leg unit;
a is the distance between the first joint frame (6) and the third joint frame (8);
r is the cross-sectional radius of the leg unit;
psi is the swing angle of the leg unit about the X-axis;
J0' is the moment of inertia of the torso body (1) about the X axis.
3. The method for adjusting the air pose of a quadruped robot according to claim 1, wherein: the angular variation function of the leg unit for decomposing the conical pendulum motion into a group of steering engines is as follows:
Figure FDA0002254534410000032
Figure FDA0002254534410000033
when turning around the Y axle, the conical pendulum motion of leg unit decomposes into the angle variation function of a set of steering wheel and has:
Figure FDA0002254534410000034
Figure FDA0002254534410000041
when the leg unit is turned around the Z axis, the conical pendulum motion of the leg unit is decomposed into angle change functions of a group of steering engines, and the angle change functions comprise:
Figure FDA0002254534410000042
Figure FDA0002254534410000043
θ10Ais the rotation angle of an A steering engine (10A);
θ10Bis the rotation angle of a steering engine (10B);
psi is the angle of the four leg units needed to move around the X axis in the instruction information output to the steering engine by the steering engine control unit when the leg units are parallel to the X axis;
β is the angle of the four leg units needed to move around the Y axis in the instruction information output to the steering engine by the steering engine control unit when the leg units are parallel to the Y axis;
Figure FDA0002254534410000044
when the leg units are parallel to the Z axis, the steering engine control unit outputs command information to the steering engine, wherein the command information needs the angle of the four leg units moving around the Z axis;
θxis the rotation angle of the leg around the X axis according to the Euler angle formula;
θyis the rotation angle of the leg around the Y axis according to the Euler angle formula;
θzis the rotation angle of the leg around the Z axis according to the Euler angle formula;
t is the attitude time of the quadruped robot when the quadruped robot is kept in the same plane;
txthe time when the quadruped robot swings around the X axis to the landing posture is obtained;
tythe time when the quadruped robot swings around the Y axis to the landing posture is obtained;
tzthe time when the quadruped robot swings around the Z axis to the landing posture is shown.
4. The method for adjusting the air pose of a quadruped robot according to claim 1, wherein: the quadruped robot realizes the integral turnover of the quadruped robot by utilizing the conical swing motion synthesized by the steering engines with two mutually perpendicular shafts between the four leg units and the trunk body.
5. The method for adjusting the air pose of a quadruped robot according to claim 1, wherein: the satellite carrier is arranged on the trunk body of the quadruped robot.
6. The method for adjusting the air pose of a quadruped robot according to claim 1, wherein: a spacecraft carrier is arranged on the trunk body of the quadruped robot.
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