CN109465820A - A kind of two miniature climbing robot control method of foot of bionic type - Google Patents
A kind of two miniature climbing robot control method of foot of bionic type Download PDFInfo
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- CN109465820A CN109465820A CN201810744556.XA CN201810744556A CN109465820A CN 109465820 A CN109465820 A CN 109465820A CN 201810744556 A CN201810744556 A CN 201810744556A CN 109465820 A CN109465820 A CN 109465820A
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- 238000000034 method Methods 0.000 title claims abstract description 96
- 230000009194 climbing Effects 0.000 title claims abstract description 15
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 13
- 230000005021 gait Effects 0.000 claims abstract description 59
- 230000009193 crawling Effects 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims description 85
- 238000004891 communication Methods 0.000 claims description 33
- 230000007613 environmental effect Effects 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 12
- 210000001364 upper extremity Anatomy 0.000 claims description 6
- 230000008901 benefit Effects 0.000 abstract description 3
- 210000002683 foot Anatomy 0.000 description 9
- 238000010276 construction Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
Classifications
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- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- 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)
- Manipulator (AREA)
Abstract
The invention discloses a kind of two miniature climbing robot control methods of foot of bionic type, belong to robot field.It includes that the biped of robot moves gait control method, biped alternately mobile gait control method, jump gait control method, gait control method of running, mobile gait control method of crawling parallel.The utilization that the present invention is miniature two foot crawling robot under different occasions provides specific control method, has the advantages that control is simple, control is reliable, it is convenient to debug.
Description
Technical field
The invention belongs to robot fields, are related to a kind of control method of robot, more specifically to a kind of utilization
Two foots are come the control method for the microrobot creeped.
Background technique
Existing miniature climbing robot it is relatively large sized, and cannot be climbed in the air gap for being, for example, less than 30mm
Row.Existing miniature climbing robot mostly uses idler wheel or crawler belt as driving mechanism.In addition, existing miniature crawling machine
The construction of people is all rigid, and limits the void dimension that robot can creep.One especially to creep in such as pipeline
The occasion of a little special applications, this limitation are especially apparent.
At present in the detection detection for miniature occasion, when the diameter of such as pipeline or air gap is less than 30mm, need to borrow
Help robot to carry miniature detecting devices to target position, to be detected or be checked, conventional robot mainly faces
Following problems: (1) Conventional robotic uses wheeled or crawler-type mobile, and volume is larger, cannot work under miniature occasion；
(2) it needs to provide power using multiple power sources, increases robot weight, while causing device volume excessive；(3) mechanism
Construction be rigid structure, flexibility is poor, will cause a degree of damage to pipeline；(4) because using wheeled or crawler type machine
Structure causes the control of robot complicated, and there is limitation in subtle occasion.
In view of the above-mentioned problems, our company has devised a kind of two miniature climbing robot of foot of bionic type, technical solution is such as
Under:
As Figure 1-Figure 5, a kind of miniature two foot crawling robot, including shell 1, foreleg 2, preceding mobile mechanism 3, after
Leg 4, rear mobile mechanism 5, driving mechanism 6, power module 7, control module 8, communication sensing module 9, flexible hinge 10, gait tune
Valve 11 is saved, the foreleg 2 is arranged in 1 front end of shell, and is connected by flexible hinge 10 with shell 1, the preceding moving machine
Structure 3 is made of secondary piston cylinder and secondary piston bar, and secondary piston cylinder connect by hinge with foreleg 2, secondary piston bar pass through hinge and
Shell 1 connects, and the back leg 4 is arranged in 1 rear end of shell, and is connected by flexible hinge 10 with shell 1, the rear movement
Mechanism 5 is made of rear piston cylinder and rear piston rod, and rear piston cylinder and back leg 4 are hinged, and rear piston rod and shell 1 are hinged, described
Driving mechanism 6, power module 7, control module 8 and communication sensing module 9 are arranged on shell 1；
The driving mechanism 6 by cavity 61, the movable film 62 of upper elasticity, upper reset spring 63, upper pneumatic tube 64, vibration plate
65, motor 66, the movable film 67 of lower elasticity, lower reset spring 68, lower pneumatic tube 69 form, and the outside of the cavity 61 is fixed on
On shell 1, there are three cavity, the movable films 62 of upper elasticity to be fixed on 1 inner wall of shell for 61 inside of cavity, and with
1 inner wall of shell constitutes upper cavity, and the described lower movable film 67 of elasticity is fixed on 1 inner wall of shell, and under constituting with 1 inner wall of shell
Cavity, the upper elastic movable film 62 and the movable film 67 of lower elasticity and cavity, upper cavity and lower chamber in 1 inner wall of shell composition
For closed cavity, the upper reset spring 63 is arranged in upper cavity, and the lower reset spring 68 is arranged in lower chamber,
Described 64 one end of upper pneumatic tube is connected to upper cavity, and the other end is connected with the secondary piston cylinder in preceding mobile mechanism 3, under described
69 one end of pneumatic tube is connected to lower chamber, and the other end is connected with the rear piston cylinder in rear mobile mechanism 5, and the vibration plate 65 that rises is set
It sets in middle cavity, and is bonded with the movable film 62 of upper elasticity, the movable film 67 of lower elasticity, the transmission shaft for playing vibration plate 65 is inclined
Heart setting, and be connected with the axis of motor 66, the motor 66 is connected by bracket with shell 1；The gait regulating valve 11
It is made of upper control valve 111, lower control valve 112, the upper control valve 111 is connected in the upside of cavity 61, and by hollow
Hose is connected to upper cavity, and the lower control valve 112 is connected in the downside of cavity 61, and is connected by hollow pipe and lower chamber
It is logical.The section of the flexible hinge 10 be it is arc-shaped, the upper reset spring 63 and lower reset spring 68 are compression bullet
Spring.
The robot passes through using completely new power source design, the processing of the flexibilityization of leg etc., so that robot volume
Weight is small, and structure is reliable, is suitble to use in miniature occasion, but the realization of its function depends on its control mode, therefore it is controlled
Method processed is determined to become its key factor for realizing predetermined function, and does not occur the control method for its design also at present.
Summary of the invention
1. the problem to be solved in the present invention
In view of the above-mentioned problems, the present invention provides a kind of two miniature climbing robot control method of foot of bionic type, including machine
The biped of device people moves gait control method parallel, the mobile gait control method of biped alternating, jump gait control method, runs
Gait control method, mobile gait control method of crawling.The present invention is fortune of miniature two foot crawling robot under different occasions
With specific control method is provided, have the advantages that control is simple, control is reliable, debugging is convenient.
2. technical solution
To solve the above problems, the present invention adopts the following technical scheme that.
A kind of two miniature climbing robot control method of foot of bionic type, the biped including robot move gait control parallel
Method, the mobile gait control method of biped alternating, jump gait control method, gait control method of running, mobile gait of crawling
Control method, every kind of control method are used in specific occasion, can be switched over as needed.
The control process that the biped moves gait control method parallel is as follows:
(1) set inverse state for the original state of preceding mobile mechanism and rear mobile mechanism, i.e., it is preceding before not moving
Secondary piston bar in mobile mechanism is located at the top of secondary piston cylinder, and the rear piston rod in rear mobile mechanism is located at rear piston at this time
The bottom of cylinder；
(2) eccentric position of vibration plate, eccentric distance have been set are as follows:
Wherein, r be vibration plate centre distance its at a distance from motor shaft bearing, R be preceding mobile mechanism in preceding work
The diameter of rear piston cylinder in plug cylinder or rear mobile mechanism, h have been length of the vibration plate on electrical axis direction, and d has been vibration plate
Diameter, a is the length of foreleg or back leg, b be flexible hinge in preceding mobile mechanism secondary piston bar or rear mobile mechanism in
Rear piston rod at a distance from housing junction；
(3) control valve and lower control valve in closing；
(4) communication sensing module is opened, receives control signal, and control signal is input to control module；
(5) control module is started to work, and by the revolving speed of control Signal Regulation motor, to the movement speed of robot into
Row is adjusted；
(6) environmental information on communication sensing module detection periphery, and pass signal back control centre.
The control process of the mobile gait control method of biped alternating is as follows:
(1) set same state for the original state of preceding mobile mechanism and rear mobile mechanism, i.e., it is preceding before not moving
Secondary piston bar in mobile mechanism is located at the top of secondary piston cylinder, and the rear piston rod in rear mobile mechanism is located at rear piston at this time
The top of cylinder；
(2) eccentric position of vibration plate has been set, and eccentric distance and biped move the eccentricity of gait control method parallel
From identical；
(3) control valve and lower control valve in closing；
(4) communication sensing module is opened, receives control signal, and control signal is input to control module；
(5) control module is started to work, and by the revolving speed of control Signal Regulation motor, to the movement speed of robot into
Row is adjusted；
(6) environmental information on communication sensing module detection periphery, and pass signal back control centre.
The control process of the jump gait control method is as follows:
(1) set same state for the original state of preceding mobile mechanism and rear mobile mechanism, i.e., it is preceding before not moving
Secondary piston bar in mobile mechanism is located at the top of secondary piston cylinder, and the rear piston rod in rear mobile mechanism is located at rear piston at this time
The top of cylinder；
(2) eccentric position of vibration plate has been set, and eccentric distance and biped move the eccentricity of gait control method parallel
From identical；
(3) control valve in unlatching closes lower control valve；
(4) communication sensing module is opened, receives control signal, and control signal is input to control module；
(5) control module is started to work, and by the revolving speed of control Signal Regulation motor, to the movement speed of robot into
Row is adjusted；
(6) environmental information on communication sensing module detection periphery, and pass signal back control centre.
The control process of the gait control method of running is as follows:
(1) set inverse state for the original state of preceding mobile mechanism and rear mobile mechanism, i.e., it is preceding before not moving
Secondary piston bar in mobile mechanism is located at the top of secondary piston cylinder, and the rear piston rod in rear mobile mechanism is located at rear piston at this time
The bottom of cylinder；
(2) eccentric position of vibration plate has been set, and eccentric distance and biped move the eccentricity of gait control method parallel
From identical；
(3) control valve in unlatching closes lower control valve；
(4) communication sensing module is opened, receives control signal, and control signal is input to control module；
(5) control module is started to work, and by the revolving speed of control Signal Regulation motor, to the movement speed of robot into
Row is adjusted；
(6) environmental information on communication sensing module detection periphery, and pass signal back control centre.
The control process of the mobile gait control method of crawling is as follows:
(1) set same state for the original state of preceding mobile mechanism and rear mobile mechanism, i.e., it is preceding before not moving
Secondary piston bar in mobile mechanism is located at the top of secondary piston cylinder, and the rear piston rod in rear mobile mechanism is located at rear piston at this time
The top of cylinder；
(2) eccentric position of vibration plate has been set, and eccentric distance and biped move the eccentricity of gait control method parallel
From identical；
(3) control valve in unlatching opens lower control valve；
(4) communication sensing module is opened, receives control signal, and control signal is input to control module；
(5) control module is started to work, and by the revolving speed of control Signal Regulation motor, to the movement speed of robot into
Row is adjusted；
(6) environmental information on communication sensing module detection periphery, and pass signal back control centre.
3. beneficial effect
Compared with the prior art, the invention has the benefit that
(1) present invention is by the way that for the analysis under different occasions, the biped for giving robot moves gait control parallel
Method, the mobile gait control method of biped alternating, jump gait control method, gait control method of running, mobile gait of crawling
Control method enables miniature two foot crawling robot to select different control methods according to different needs.
(2) five kinds of controls that the present invention designs are simple and reliable, can arbitrarily switch at work, especially every kind of control method
Between difference very little, easy switching, and control that reliable, debugging is convenient.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the robot controlled needed for the present invention；
Fig. 2 is the left view of Fig. 1；
Fig. 3 is the enlarged drawing of A in Fig. 1；
Fig. 4 is the structure chart of driving mechanism 6 in Fig. 1；
Fig. 5 is the B direction view in Fig. 4.
In attached drawing: 1-shell, 2-forelegs, 3-preceding mobile mechanisms, 4-back legs, 5-rear mobile mechanisms, 6-driving machines
Structure, 7-power modules, 8-control modules, 9-communication sensing modules, 10-flexible hinges, 11-gait regulating valves；61-chambers
Body, the 62-upper movable films of elasticity, 63-upper reset springs, 64-upper pneumatic tubes, 65-play vibration plate, 66-motors, 67-lower bullets
Sexuality film, 68-lower reset springs, 69-lower pneumatic tubes；111-upper control valves, 112-lower control valves.
Specific embodiment
Present invention will now be described in detail with reference to the accompanying drawings..
A kind of two miniature climbing robot control method of foot of bionic type, the biped including robot move gait control parallel
Method, the mobile gait control method of biped alternating, jump gait control method, gait control method of running, mobile gait of crawling
Control method, every kind of control method are used in specific occasion, can be switched over as needed.
The control process that the biped moves gait control method parallel is as follows:
(1) set inverse state for the original state of preceding mobile mechanism 3 and rear mobile mechanism 5, i.e., before not moving,
Secondary piston bar in preceding mobile mechanism 3 is located at the top of secondary piston cylinder, after the rear piston rod in rear mobile mechanism 5 is located at this time
The bottom of piston cylinder；
(2) eccentric position of vibration plate 65, eccentric distance have been set are as follows:
Wherein, r be vibration plate 65 centre distance its at a distance from 66 axis bearing of motor, R be preceding mobile mechanism 3 in
The diameter of rear piston cylinder in secondary piston cylinder or rear mobile mechanism 5, h have been length of the vibration plate 65 on 66 axis direction of motor, d
For the diameter for playing vibration plate 65, a is the length of foreleg 2 or back leg 4, and b is flexible hinge 10 to the secondary piston bar in preceding mobile mechanism 3
Or the rear piston rod in rear mobile mechanism 5 is at a distance from 1 junction of shell；
(3) control valve 111 and lower control valve 112 in closing；
(4) communication sensing module 9 is opened, receives control signal, and control signal is input to control module 8；
(5) control module 8 is started to work, and by the revolving speed of control Signal Regulation motor 66, to the mobile speed of robot
Degree is adjusted；
(6) communication sensing module 9 detects the environmental information on periphery, and passes signal back control centre.
The control process of the mobile gait control method of biped alternating is as follows:
(1) set same state for the original state of preceding mobile mechanism 3 and rear mobile mechanism 5, i.e., before not moving,
Secondary piston bar in preceding mobile mechanism 3 is located at the top of secondary piston cylinder, after the rear piston rod in rear mobile mechanism 5 is located at this time
The top of piston cylinder；
(2) eccentric position of vibration plate 65 has been set, and eccentric distance and biped move the bias of gait control method parallel
Apart from identical；
(3) control valve 111 and lower control valve 112 in closing；
(4) communication sensing module 9 is opened, receives control signal, and control signal is input to control module 8；
(5) control module 8 is started to work, and by the revolving speed of control Signal Regulation motor 66, to the mobile speed of robot
Degree is adjusted；
(6) communication sensing module 9 detects the environmental information on periphery, and passes signal back control centre.
The control process of the jump gait control method is as follows:
(1) set same state for the original state of preceding mobile mechanism 3 and rear mobile mechanism 5, i.e., before not moving,
Secondary piston bar in preceding mobile mechanism 3 is located at the top of secondary piston cylinder, after the rear piston rod in rear mobile mechanism 5 is located at this time
The top of piston cylinder；
(2) eccentric position of vibration plate 65 has been set, and eccentric distance and biped move the bias of gait control method parallel
Apart from identical；
(3) control valve 111 in unlatching closes lower control valve 112；
(4) communication sensing module 9 is opened, receives control signal, and control signal is input to control module 8；
(5) control module 8 is started to work, and by the revolving speed of control Signal Regulation motor 66, to the mobile speed of robot
Degree is adjusted；
(6) communication sensing module 9 detects the environmental information on periphery, and passes signal back control centre.
The control process of the gait control method of running is as follows:
(1) set inverse state for the original state of preceding mobile mechanism 3 and rear mobile mechanism 5, i.e., before not moving,
Secondary piston bar in preceding mobile mechanism 3 is located at the top of secondary piston cylinder, after the rear piston rod in rear mobile mechanism 5 is located at this time
The bottom of piston cylinder；
(2) eccentric position of vibration plate 65 has been set, and eccentric distance and biped move the bias of gait control method parallel
Apart from identical；
(3) control valve 111 in unlatching closes lower control valve 112；
(4) communication sensing module 9 is opened, receives control signal, and control signal is input to control module 8；
(5) control module 8 is started to work, and by the revolving speed of control Signal Regulation motor 66, to the mobile speed of robot
Degree is adjusted；
(6) communication sensing module 9 detects the environmental information on periphery, and passes signal back control centre.
The control process of the mobile gait control method of crawling is as follows:
(1) set same state for the original state of preceding mobile mechanism 3 and rear mobile mechanism 5, i.e., before not moving,
Secondary piston bar in preceding mobile mechanism 3 is located at the top of secondary piston cylinder, after the rear piston rod in rear mobile mechanism 5 is located at this time
The top of piston cylinder；
(2) eccentric position of vibration plate 65 has been set, and eccentric distance and biped move the bias of gait control method parallel
Apart from identical；
(3) control valve 111 in unlatching opens lower control valve 112；
(4) communication sensing module 9 is opened, receives control signal, and control signal is input to control module 8；
(5) control module 8 is started to work, and by the revolving speed of control Signal Regulation motor 66, to the mobile speed of robot
Degree is adjusted；
(6) communication sensing module 9 detects the environmental information on periphery, and passes signal back control centre.
Claims (6)
1. a kind of two miniature climbing robot control method of foot of bionic type, which is characterized in that the biped including robot moves parallel
Dynamic gait control method, jump gait control method, gait control method of running, is crawled at the mobile gait control method of biped alternating
Gait control method is moved in crawl, and every kind of control method is used in specific occasion, can be switched over as needed.
2. the two miniature climbing robot control method of foot of a kind of bionic type according to claim 1, which is characterized in that described
Biped move parallel gait control method control process it is as follows:
(1) set inverse state for the original state of preceding mobile mechanism (3) and rear mobile mechanism (5), i.e., before not moving,
Secondary piston bar in preceding mobile mechanism (3) is located at the top of secondary piston cylinder, at this time the rear piston rod position in rear mobile mechanism (5)
In the bottom of rear piston cylinder；
(2) eccentric position of vibration plate (65), eccentric distance have been set are as follows:
Wherein, r be vibration plate (65) centre distance its at a distance from motor (66) axis bearing, R be preceding mobile mechanism (3) in
Secondary piston cylinder or the rear piston cylinder in rear mobile mechanism (5) diameter, h has been vibration plate (65) on motor (66) axis direction
Length, d has been the diameter of vibration plate (65), and a is the length of foreleg (2) or back leg (4), and b is that flexible hinge (10) arrive preceding movement
The rear piston rod in secondary piston bar or rear mobile mechanism (5) in mechanism (3) is at a distance from shell (1) junction；
(3) control valve (111) and lower control valve (112) in closing；
(4) communication sensing module (9) is opened, receives control signal, and control signal is input to control module (8)；
(5) control module (8) is started to work, and by the revolving speed of control Signal Regulation motor (66), to the mobile speed of robot
Degree is adjusted；
(6) environmental information on communication sensing module (9) detection periphery, and pass signal back control centre.
3. the two miniature climbing robot control method of foot of a kind of bionic type according to claim 1, which is characterized in that described
Biped alternately mobile gait control method control process it is as follows:
(1) set same state for the original state of preceding mobile mechanism (3) and rear mobile mechanism (5), i.e., before not moving,
Secondary piston bar in preceding mobile mechanism (3) is located at the top of secondary piston cylinder, at this time the rear piston rod position in rear mobile mechanism (5)
In the top of rear piston cylinder；
(2) eccentric position of vibration plate (65) has been set, and eccentric distance and biped move the eccentricity of gait control method parallel
From identical；
(3) control valve (111) and lower control valve (112) in closing；
(4) communication sensing module (9) is opened, receives control signal, and control signal is input to control module (8)；
(5) control module (8) is started to work, and by the revolving speed of control Signal Regulation motor (66), to the mobile speed of robot
Degree is adjusted；
(6) environmental information on communication sensing module (9) detection periphery, and pass signal back control centre.
4. the two miniature climbing robot control method of foot of a kind of bionic type according to claim 1, which is characterized in that described
Jump gait control method control process it is as follows:
(1) set same state for the original state of preceding mobile mechanism (3) and rear mobile mechanism (5), i.e., before not moving,
Secondary piston bar in preceding mobile mechanism (3) is located at the top of secondary piston cylinder, at this time the rear piston rod position in rear mobile mechanism (5)
In the top of rear piston cylinder；
(2) eccentric position of vibration plate (65) has been set, and eccentric distance and biped move the eccentricity of gait control method parallel
From identical；
(3) lower control valve (112) are closed in control valve (111) in unlatching；
(4) communication sensing module (9) is opened, receives control signal, and control signal is input to control module (8)；
(5) control module (8) is started to work, and by the revolving speed of control Signal Regulation motor (66), to the mobile speed of robot
Degree is adjusted；
(6) environmental information on communication sensing module (9) detection periphery, and pass signal back control centre.
5. the two miniature climbing robot control method of foot of a kind of bionic type according to claim 1, which is characterized in that described
Gait control method of running control process it is as follows:
(1) set inverse state for the original state of preceding mobile mechanism (3) and rear mobile mechanism (5), i.e., before not moving,
Secondary piston bar in preceding mobile mechanism (3) is located at the top of secondary piston cylinder, at this time the rear piston rod position in rear mobile mechanism (5)
In the bottom of rear piston cylinder；
(2) eccentric position of vibration plate (65) has been set, and eccentric distance and biped move the eccentricity of gait control method parallel
From identical；
(3) lower control valve (112) are closed in control valve (111) in unlatching；
(4) communication sensing module (9) is opened, receives control signal, and control signal is input to control module (8)；
(5) control module (8) is started to work, and by the revolving speed of control Signal Regulation motor (66), to the mobile speed of robot
Degree is adjusted；
(6) environmental information on communication sensing module (9) detection periphery, and pass signal back control centre.
6. the two miniature climbing robot control method of foot of a kind of bionic type according to claim 1, which is characterized in that described
Mobile gait control method of crawling control process it is as follows:
(1) set same state for the original state of preceding mobile mechanism (3) and rear mobile mechanism (5), i.e., before not moving,
Secondary piston bar in preceding mobile mechanism (3) is located at the top of secondary piston cylinder, at this time the rear piston rod position in rear mobile mechanism (5)
In the top of rear piston cylinder；
(2) eccentric position of vibration plate (65) has been set, and eccentric distance and biped move the eccentricity of gait control method parallel
From identical；
(3) lower control valve (112) are opened in control valve (111) in unlatching；
(4) communication sensing module (9) is opened, receives control signal, and control signal is input to control module (8)；
(5) control module (8) is started to work, and by the revolving speed of control Signal Regulation motor (66), to the mobile speed of robot
Degree is adjusted；
(6) environmental information on communication sensing module (9) detection periphery, and pass signal back control centre.
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| CN201810744556.XA CN109465820A (en) | 2018-07-09 | 2018-07-09 | A kind of two miniature climbing robot control method of foot of bionic type |
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|---|---|---|---|
| CN201810744556.XA CN109465820A (en) | 2018-07-09 | 2018-07-09 | A kind of two miniature climbing robot control method of foot of bionic type |
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| CN109465820A true CN109465820A (en) | 2019-03-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110294040A (en) * | 2019-05-17 | 2019-10-01 | 北京建筑大学 | A kind of mobile walking devices |
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2018
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110294040A (en) * | 2019-05-17 | 2019-10-01 | 北京建筑大学 | A kind of mobile walking devices |
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