CN110239643B

CN110239643B - Multi-legged robot suitable for physical interaction under unstructured environment

Info

Publication number: CN110239643B
Application number: CN201910460993.3A
Authority: CN
Inventors: 宋超阳; 万芳
Original assignee: Southwest University of Science and Technology
Current assignee: Southwest University of Science and Technology
Priority date: 2019-05-30
Filing date: 2019-05-30
Publication date: 2021-04-09
Anticipated expiration: 2039-05-30
Also published as: CN110239643A; WO2020238334A1

Abstract

The invention discloses a multi-legged robot suitable for physical interaction in an unstructured environment, which comprises: the robot comprises a multi-legged robot body and a leg structure, wherein the network structure of the leg structure is a first basic unit, a second basic unit, the superposition of the first basic unit and a plurality of second basic units, or the superposition of a plurality of second basic units; the first upper layer structure of the first basic unit comprises a first node, the first lower layer structure comprises at least three non-collinear second nodes, and the first node and all the second nodes form a three-dimensional network structure through connecting rods; the second upper layer structure of the second basic unit comprises at least two third nodes, the second lower layer structure comprises at least two fourth nodes, the at least two fourth nodes and the at least two third nodes are not coplanar, and all the third nodes and all the fourth nodes form a three-dimensional network structure through connecting rods. When the multi-legged robot passes through complex terrains, the leg structure and the external environment geometry generate adaptivity.

Description

Multi-legged robot suitable for physical interaction under unstructured environment

Technical Field

The invention relates to the technical field of robot design, in particular to a multi-legged robot suitable for physical interaction in an unstructured environment.

Background

The existing robot is usually designed by adopting a rigid material, a mature design method is formed in response to the structural environment problem, such as an industrial robot, but when the robot is used for responding to more extensive unstructured environment interaction, the design method still has great limitation, complex motion functions are often realized by adopting complex mechanical structures, transmission parts, driving parts and the like, and in the process, the self-adaptability of the robot structure becomes an important design problem.

Generally, a robot with high environmental adaptability can realize various complex functions in a wider application scene, particularly in an unstructured environment, by means of a single structure or only by a small amount of change, which is an important embodiment of the robot adaptability.

Although the existing multi-legged robot can effectively solve the moving problem under the complex terrain (such as a big dog robot of boston dynamics), the existing multi-legged robot usually needs a very complex mechanical structure and a specially designed driver to respond to the challenge of the complex terrain through high-level sensing and control, and the self-adaptive legged robot needs to achieve self-adaptive gait which can respond to the complex environment through a relatively simple legged structure under the condition of as few drivers as possible.

In order to solve the above problems, in the related art, a robot design that can cope with the above difficulties is often realized by integrating a more complicated mechanical structure, a driving method, a sensor device, a control method, and the like. The design often has the difficulties in various aspects such as complex structure, high cost, various parts, narrow space, complex control, difficult protection in special environment and the like, and the proposal of a robot design method with universal adaptability still remains a great challenge in the field of robot design for meeting the special application requirements in the unstructured environment.

Disclosure of Invention

Aiming at the defects in the problems, the invention provides a multi-legged robot suitable for physical interaction in an unstructured environment.

The invention discloses a multi-legged robot suitable for physical interaction in an unstructured environment, which comprises: the robot comprises a multi-legged robot body and a leg structure, wherein the leg structure is mounted on the multi-legged robot body;

the network structure of the leg structure adopts a space three-dimensional network structure, and the space three-dimensional network structure is based on the positions of nodes and orderly combined in space by adopting connecting rods.

As a further improvement of the present invention, the spatial three-dimensional network structure is a first basic unit, a second basic unit, a superposition of the first basic unit and a plurality of the second basic units, or a superposition of a plurality of the second basic units; wherein:

the first base unit comprises a first superstructure comprising a first node and a first substructure comprising at least three second nodes, the at least three second nodes being non-collinear; the first node and all the second nodes form a three-dimensional network structure through connecting rods, and the connecting rods are connected between the two second nodes or between the first node and the second nodes;

the second basic unit comprises a second upper layer structure and a second lower layer structure, the second upper layer structure comprises at least two third nodes, the second lower layer structure comprises at least two fourth nodes, and the at least two fourth nodes are not coplanar with the at least two third nodes; all the third nodes and all the fourth nodes form a three-dimensional network structure through connecting rods, and the connecting rods are connected between the two third nodes, between the two fourth nodes or between the third nodes and the fourth nodes.

As a further improvement of the invention, the connecting rod is a hollow flexible rod.

As a further improvement of the invention, any one of the second nodes and the second node closest to the second node are connected through the connecting rod;

based on the principle of proximity, the first node and one or more second nodes are connected by the connecting rod.

As a further improvement of the invention, any one of the second nodes and one or more second nodes not connected thereto are connected by the connecting rod;

the first node and one or more second nodes not connected thereto are connected by the link.

As a further improvement of the present invention, any one of the third nodes and the third node closest thereto are connected by the link;

any one fourth node is connected with the fourth node closest to the fourth node through the connecting rod;

one or more of the third nodes and one or more of the fourth nodes are connected by the connecting rod on a near basis.

As a further improvement of the present invention, any one of the third nodes and one or more third nodes not connected thereto are connected by the link;

any one fourth node is connected with one or more fourth nodes which are not connected with the fourth node through the connecting rod;

any one of the third nodes and one or more fourth nodes not connected thereto are connected by the link.

As a further improvement of the invention, the method also comprises the following steps: a sensing system;

the sensing system includes: the multi-legged robot comprises a light source device, a photosensitive device and an optical signal processor, wherein the light source device, the photosensitive device and the optical signal processor are arranged on a multi-legged robot body;

light emitted by the light source device enters the hollow channel of the connecting rod through the light path inlet and is transmitted to the photosensitive device through the light path outlet;

and the optical signal processor processes the optical signals of the light source device and the photosensitive device and converts the optical signals into deformation signals of the leg structure, so that a sensing function is realized.

As a further improvement of the invention, a single or a plurality of optical fiber loops are embedded in the hollow channel of the connecting rod;

the light emitted by the light source device enters the optical fiber loop through the light path inlet and is transmitted to the photosensitive device through the light path outlet;

Compared with the prior art, the invention has the beneficial effects that:

the leg structure of the multi-legged robot adopts a space three-dimensional network structure, and the space three-dimensional network structure is based on the positions of nodes and orderly combined in space by adopting connecting rods; when the multi-legged robot passes through a complex terrain, the connecting rod of the leg structure performs sunken deformation in space to generate adaptivity with an external environment geometric structure, so that the leg structure of the multi-legged robot realizes physical interaction in an unstructured environment;

in addition, the invention can directly utilize the hollow structure of the leg structure connecting rod as a light path or embed a single or a plurality of optical fiber loops, and the physical deformation quantity of the connecting rod is detected by measuring the change of the light flux quantity through the optical signal processor, so that the leg structure of the multi-legged robot realizes the physical perception of the unstructured environment during interaction.

Drawings

Fig. 1 is a schematic structural diagram of a multi-legged robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a first basic unit according to an embodiment of the disclosure;

FIG. 3 is a schematic structural diagram of a second basic unit according to an embodiment of the disclosure;

FIG. 4 is a schematic diagram of a network structure of a leg structure according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a network structure of a leg structure according to another embodiment of the present disclosure;

FIG. 6 is a side cross-sectional view of a disclosed sensing system in accordance with one embodiment of the invention;

FIG. 7 is a schematic diagram of the adaptive deformation of an article X before and after contact with a first base unit according to an embodiment of the disclosure;

FIG. 8 is a schematic diagram of the first base unit of FIG. 7 after adaptive adjustment of the items X;

FIG. 9 is a schematic diagram of adaptive deformation of an article X before and after contact with a first base unit according to another embodiment of the disclosure;

fig. 10 is a schematic diagram of the adaptive deformation of the article X after contact with the leg structure according to an embodiment of the disclosure.

In the figure:

A. a multi-legged robot body; B. a leg structure;

1. a first node; 2. a second node; 3. a third node; 4. a fourth node; 5. a connecting rod; 6. a light source device; 7. a photosensitive device; 8. an optical signal processor; 9. an optical path inlet; 10. an optical path outlet; 11. a light path opening into which the side link is introduced; 12. a deformation signal.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The invention is described in further detail below with reference to the attached drawing figures:

as shown in fig. 1, the present invention provides a multi-legged robot suitable for physical interaction in an unstructured environment, comprising: the robot comprises a multi-legged robot body A and a leg structure B, wherein the leg structure B is arranged on the multi-legged robot body A; wherein:

the network structure of the leg structure B of the present invention is a first base unit, a second base unit, a superposition of one first base unit and a plurality of second base units, or a superposition of a plurality of second base units; when in use, one of the forms can be selected according to actual requirements.

Specifically, the method comprises the following steps:

as shown in fig. 2, the first basic unit of the present invention includes a first upper layer structure and a first lower layer structure;

the first superstructure comprises a first node (A) 1; the first lower layer structure comprises at least three non-collinear second nodes 2, and the non-collinear second nodes 2 ensure that a space three-dimensional network structure is formed after the first nodes 1 are connected with the second nodes 2, but not a plane network structure;

the first node 1 and all the second nodes 2 form a three-dimensional network structure through connecting rods 5, the connecting rods 5 are hollow flexible rods (namely, materials with high Young modulus and deformation proportion elasticity or superelasticity), and other solid rod pieces meeting requirements can be adopted, preferably the hollow flexible rods are adopted; when a solid rod piece is selected, a channel for a light path to pass through can be arranged on the solid rod piece; the link 5 is connected between two second nodes 2 or between the first node 1 and the second node 2. All the nodes (including the first node and the second node) of the present invention are connected into a whole, and the specific connection mode of the first node 1 and the second node 2 is not limited, and the specific connection mode of the first node 1 and the second node 2 can be designed according to different requirements.

As shown in FIG. 2, the present invention shows a first basic cell structure with a lower level of 3 second nodes (a/b), 4 second nodes (a/b/c), and n second nodes (a/b/c/…/n); wherein:

preferably, in the upper layer structure, if only one node is in the layer, no connecting rod is connected in the layer; in the lower layer structure, any second node is usually connected with the second node closest to the second node through a connecting rod. In the two-story structure, the first node is usually connected to one or more second nodes by links on the basis of the principle of proximity.

Further preferably, according to the actual design requirements of different scenes, in the lower layer structure, any second node is connected with one or more second nodes which are not connected with the second node through a connecting rod; in the upper and lower two-layer structure, the first node and one or more second nodes which are not connected with the first node are connected through a connecting rod.

As shown in fig. 3, the second basic unit of the present invention includes a second upper layer structure and a second lower layer structure;

the second superstructure comprises at least two third nodes 3;

the second lower layer structure comprises at least two fourth nodes 4, and the at least two fourth nodes 4 are not coplanar with the at least two third nodes 3;

all the third nodes 3 and all the fourth nodes 4 form a three-dimensional network structure through connecting rods 5, the connecting rods 5 are hollow flexible rods, and the connecting rods 5 are connected between the two third nodes 3, between the two fourth nodes 4 or between the third nodes 3 and the fourth nodes 4. All the nodes (including the third node and the fourth node) of the present invention are connected into a whole, and the specific connection mode of the third node 3 and the fourth node 4 is not limited, and the specific connection mode of the third node 3 and the fourth node 4 can be designed according to different requirements.

Preferably, in the upper layer structure, any third node and the third node closest to the third node are connected through a connecting rod; in the lower layer structure, any fourth node is connected with the fourth node closest to the fourth node through a connecting rod; in the upper and lower two-layer structure, one or more third nodes and one or more fourth nodes are connected through connecting rods based on the principle of proximity.

Further preferably, according to actual design requirements of different scenes, in an upper layer structure, any third node is connected with one or more third nodes which are not connected with the any third node through a connecting rod; in the lower layer structure, any fourth node and one or more fourth nodes which are not connected with the fourth node are connected through a connecting rod; in the upper and lower two-layer structure, any third node and one or more fourth nodes which are not connected with the third node are connected through a connecting rod.

Further preferably, it is pointed out that such a basic building block can also be regarded as a special case of the aforementioned basic building blocks, i.e. a combination between two basic building blocks having the same underlying node configuration but different single overlying node configurations. In this case, the structure can be simplified by connecting the single upper node of the two basic units and removing other connecting rods which are connected with the upper node and have longer lengths, so that the staggered structure of the connecting rods is avoided.

As shown in fig. 3, the present invention shows a second basic unit structure, in which the upper layer is 2 third nodes (a/B), the lower layer is 2 fourth nodes (a/B), the upper layer is 2 third nodes (a/B), the lower layer is 3 fourth nodes (a/B/C), the upper layer is 2 third nodes (a/B), the lower layer is 4 fourth nodes (a/B/C/D), the upper layer is 3 third nodes (a/B/C), the lower layer is 3 fourth nodes (a/B/C), the upper layer is 4 third nodes (a/B/C/D), and the lower layer is 4 fourth nodes (a/B/C/D); wherein:

as shown in fig. 3a in a "four-sided form" ABab configuration, it can be known through an analysis method similar to that in the foregoing first specific example that the basic structural unit can achieve adaptive cladding and motion stabilization effects for the external environment, for example, the article X;

as shown in fig. 3B, the configuration of "double three-side double four-side" ABabc "can be equivalent to a composite structural unit formed by superimposing two basic structural units" Aabc "and" Babc "through lower abc, and then two nodes a and B in the upper layer are connected, since the spatial distances between a and B are relatively short, and the spatial distance between B and c is relatively short, the structure simplification can be achieved by removing three links Ac, Ba, and Bb, and avoiding the structure of link staggering, and it can be known through similar analysis that the basic structural unit can achieve adaptive cladding and motion stabilization effects on the external environment such as the article X.

As another configuration of the "single four sides four three sides" ABabc configuration shown in fig. 3c, it may be equivalent to a composite structural unit formed by stacking two basic structural units "Aabc and Babc" through lower layers abc, but the spatial distances of Ac and Bc are substantially equal, and the spatial distances of Aa and Bb are also substantially equal, at this time, a structure simplification may be completed by removing Ab and Ba, and a structure with staggered links is avoided.

As another configuration of the "three-four-side double-trilateral" ababcc configuration shown in fig. 3d, the configuration may be equivalent to two "pyramid" basic structural units Aabcd and Babcd, which form a composite structural unit by overlapping the lower layer abcd, but the spatial distances of Aa and Ab are substantially equal, and the spatial distances of Bc and Bd are also substantially equal, at this time, the structural simplification may be completed by removing Ac, Ad, Ba, and Bb, and a structure with staggered links is avoided.

Other cases may derive other basic network fabric elements from the above analysis and so on.

Another specific example of such a basic structural unit is that when the upper and lower layers contain the same number of connecting nodes, each layer only needs to be sequentially connected with each adjacent node through a connecting rod to form a single closed-loop structure, the two layers are sequentially connected with corresponding nodes through connecting rods to form a three-dimensional network structure, and the nodes in each layer may not be coplanar.

As shown in fig. 3e, in the "double-layer trilateral" abcabcabc configuration, the upper and lower layers respectively include three connection nodes;

as shown in fig. 3f, in the "double-layer quadrilateral" configuration, the upper layer and the lower layer respectively include four connecting nodes.

As shown in fig. 4, on the basis of the first basic unit and the second basic unit, the network structure of the leg structure designed by the present invention can be obtained by stacking one first basic unit and a plurality of second basic units, each layer of basic units can be correspondingly deformed in a concave manner for the geometric dimensions of different positions of the article X, the self-adaptive coating and motion stabilization effects of the whole space network structure on the external environment are comprehensively improved by the superposition of the self-adaptive coating and motion stabilization effects of each layer of basic structure, including the self-adaptive coating and motion stabilization effects of the network structure generated by torsional deformation, and one remarkable characteristic of the space network structure of the leg structure related by the invention is that when the multi-legged robot passes through a complex terrain, the leg structure can realize geometric structure self-adaptation and motion stabilization to the external environment from any lateral angle:

as shown in fig. 4a, [ multilayer tetrahedral formula ]: comprises a tetrahedral basic structure unit at the top layer and a plurality of double-layer trilateral basic structure units at the bottom;

as shown in fig. 4b, the [ multilayer pyramid ] structure: comprises a pyramid basic structure unit at the top layer and a plurality of double-layer quadrilateral basic structure units at the bottom;

according to the actual requirements of different scenes, the corresponding structural design can be carried out according to the design method described by the invention, and the structural adaptivity and the motion stability effect of the leg structure to the external environment are realized.

Preferably, according to the actual design requirements of different scenes, the geometric shape of each connecting rod can be a general straight line or a specially designed complex curve, and the cross section shape of each connecting rod can be a circle, a square or any other cross section shape.

Preferably, each connecting rod adopts the material that has certain elasticity, can produce the elastic deformation that can be detected under the exogenic action promptly, and arbitrary connecting rod is inside can adopt hollow structure, through the inside light flux volume that leads to of detection member, realizes the perception to member elastic deformation.

Preferably, according to the actual design requirements of different scenes, the connection modes of the connecting rods at the connecting nodes can be various connection modes such as general structural fixation (no degree of freedom, namely no relative motion degree of freedom between the connecting rods), hinge connection (one degree of freedom, namely one relative rotation motion degree of freedom between the connecting rods), spherical hinge connection (three degrees of freedom, namely two relative rotations and one motion degree of freedom of rotation around a shaft between the connecting rods) and the like.

As shown in fig. 5, based on the above basic units, the spatial network structure of the leg structure designed in the present invention can be combined and stacked by using a plurality of second basic structures, each layer of basic structure unit can respectively perform corresponding concave deformation on the geometric dimensions of different positions of the article X, and the adaptive coverage and the motion stabilization effect of the entire spatial network structure on the external environment are comprehensively improved by the superposition of the adaptive and motion stabilization effects of each layer of basic structure, including the adaptive coverage and the motion stabilization effect of the network structure generated by torsional deformation, and one significant feature of the spatial network structure of the leg structure related in the present invention is that the geometric structure adaptation and the motion stabilization on the external environment can be realized from any lateral angle:

as shown in fig. 5a, [ a multi-layer composite ] structure: comprises a basic structure unit (single four sides and three sides) at the top layer and a plurality of double layers (three sides) at the bottom;

as shown in fig. 5b, [ another multilayer composite ] structure: comprises a three-four-side double-trilateral basic structure unit at the top layer and a plurality of double-layer (four-side) basic structure units at the bottom;

according to the actual requirements of different scenes, the corresponding structural design can be carried out according to the design method described by the invention, the structural adaptivity and the motion stability effect of the robot body to the external environment are realized, and the method can realize diversified robot structures.

According to the invention, by adopting the flexible rod piece (namely, the elastic or super-elastic material with higher Young modulus and deformation proportion) with the internal light path, when the rod piece deforms, the deformation amount of the rod piece is measured by measuring the light transmission amount change of a light transmission medium such as an optical fiber in the light path or in the light path, so that the leg structure can sense the physical environment during interaction.

Specifically, the method comprises the following steps:

as shown in fig. 6, the structure shown is a cross-sectional view of a side triangle in the base unit; the invention provides a sensing system of a multi-legged robot, comprising: the light source device 6, the photosensitive device 7 and the optical signal processor 8 are arranged on the multi-legged robot body; wherein:

the connecting rod of the leg structure of the multi-legged robot is provided with a light path inlet 9 and a light path outlet 10, and a light path opening 11 for leading in the connecting rod on the side surface is arranged at the connecting point; the light source device 6 and the photosensitive device 7 are connected with the optical signal processor 8, the light source device 6 is arranged at the light path inlet 9, and the photosensitive device 7 is arranged at the light path outlet 10.

When the device is used, light emitted by the light source device 6 enters the hollow channel of the connecting rod 5 through the light path inlet 9 and is transmitted to the photosensitive device 7 through the light path outlet 10; the optical signal processor 8 processes the optical signals of the light source device 6 and the photosensitive device 7, and converts the optical signals into deformation signals 12 of leg structures, so that the sensing function is realized.

Furthermore, the specific direction of the light path of the sensing system can be specifically designed according to actual requirements, the bottom of the sensing system is provided with a light path inlet and outlet and is connected to the robot base part, the light source device can adopt a light emitting diode, and the photosensitive device can adopt a photosensitive sensor.

The present invention also provides another sensing system of a multi-legged robot, including: the light source device 6, the photosensitive device 7 and the optical signal processor 8 are arranged on the multi-legged robot body; wherein:

a light path inlet 9 and a light path outlet 10 are arranged on a connecting rod of the leg structure, and a single or a plurality of optical fiber loops are embedded in a hollow channel of the connecting rod 5; and a light path opening 11 for leading in the side connecting rod is arranged at the connecting point; the light source device 6 and the photosensitive device 7 are connected with the optical signal processor 8, the light source device 6 is arranged at the light path inlet 9, and the photosensitive device 7 is arranged at the light path outlet 10.

When the optical fiber is used, light emitted by the light source device 6 enters the optical fiber loop through the optical path inlet 9 and is transmitted to the photosensitive device 7 through the optical path outlet 10; the optical signal processor 8 processes the optical signals of the light source device 6 and the photosensitive device 7, and converts the optical signals into deformation signals of leg structures, so that the sensing function is realized.

Example (b):

the present invention takes the first basic unit as an example to illustrate the adaptive process, and the principle of the adaptive process of the second basic unit is the same as that of the first basic unit.

The adaptive process of the first basic unit of the invention is as follows:

in the invention, by taking Aabc in FIG. 2 as an example, when the external environment acting force from an article X with a certain three-dimensional geometric dimension is received, the sides in contact with the article X respectively generate elastic deformation with different degrees to form space cladding on the three-dimensional geometric dimension of the article X, thereby realizing the adaptability of the geometric shape.

As shown in fig. 7, an external environment article X having a spatial geometry is in a blank region in the middle of a trilateral Abc of a tetrahedron;

before the contact is generated, the relative movement direction of the article X and the basic structure unit of the tetrahedron type is pointed along a dotted arrow, and the dotted arrow points to a trilateral Abc middle blank area of the basic structure unit of the tetrahedron type;

after the contact, the article X is in contact with the trilateral Abc of the basic structure unit of the tetrahedron, and the trilateral Abc generates corresponding elastic deformation; namely, the original connecting nodes A, b and c are respectively shifted to the positions A ', b ' and c ' inwards by a certain amount, and the three rod pieces realize the adaptability to the geometric dimension of the article X through the generated elastic deformation.

As shown in fig. 8, in the case of the post-contact schematic diagram shown in fig. 7, the acting force represented by the dotted arrow may be uneven, and the point a 'is additionally limited by the rod a' a, so that the trilateral a 'bc rotates around the rod a' a, causing a torsional motion of the entire [ tetrahedral ] basic structural unit, and the generated overall deformation further enhances the adaptability to the geometry of the article X, and when the force represented by the three arrows is illustrated, the transient equation is obtained, and the effect of stabilizing the motion of the article X is achieved.

As shown in fig. 9, the external environmental items X having a certain spatial geometry are almost evenly distributed within their trilateral Abc and trilateral Aac regions at the position of the tetrahedron.

Before the contact is generated, the relative movement direction of the article X and the basic structure unit of the tetrahedron type is indicated by a dotted arrow, at the moment, the article X is almost simultaneously and uniformly distributed in the trilateral Abc and trilateral Aac areas of the article X relative to the basic structure unit of the tetrahedron type, namely, the dotted arrow mainly points to the rod piece Ac direction;

after the contact, the article X is in contact with a rod piece Ac of a basic structure unit (tetrahedron type), and the rod piece Ac generates corresponding elastic deformation; that is, the article X primarily contacts the bar Ac, causing the bar Ac to elastically deform to conform to the geometry of the article X, with the original attachment point A, c being displaced inwardly by a certain amount to the a ', c' positions, respectively.

Meanwhile, based on the principle of fig. 8, when the acting force of the article X on the different connecting rods of the configuration is not uniform, the invention can form a twisting action on the surface of the article X on which the acting force is applied, so that the whole (tetrahedral type) configuration is also twisted, thereby further enhancing the adaptive geometric coating on the article X and further realizing the motion stability of the article X.

The above description only shows the leg structure of the [ tetrahedron type ], when the number of the lower layer connection nodes exceeds three, the [ polyhedron type ] network configuration formed by adopting the similar above methods can be regarded as the superposition of a plurality of the [ tetrahedron type ] basic configurations, that is, the lower layer connection nodes are divided according to a group of three to form different [ tetrahedron type ] basic configurations respectively, and then are overlapped and superposed at the shared connecting rod to form the corresponding [ polyhedron type ] composite network configuration, so that the adaptive cladding and motion stabilization effects on the external environment taking the article X as an example can be realized by using the similar above methods.

The second basic unit of the invention has the following self-adaptive process:

the above only shows the first basic unit network structure, when taking the second basic unit as an example, that is, when the number of the upper layer connecting nodes is multiple, the [ polyhedral ] network configuration formed by adopting the similar method can be regarded as the superposition of multiple [ tetrahedral ] basic configurations; it can also achieve adaptive coating and motion stabilization effects for the external environment, exemplified by article X, by methods similar to those above.

As shown in fig. 10, taking the multilayer pyramid network structure shown in fig. 4b as an example, when the external environment object X is acted from different angles, the adaptive deformation generated by the network structure according to the present invention is shown in a diagram a, which is an actual model of the network structure Aabcd, in a diagram b, which is the adaptive deformation generated when the object X is acted mainly from the side Aab, in a diagram c, which is the adaptive deformation generated when the object X is acted mainly from the side Ab rod, in which case the whole network structure is twisted counterclockwise to make the contact surface adaptive to the side Aab, and in a diagram d, which is the adaptive deformation generated when the object X is acted mainly from the side Aa rod, in which case the whole network structure is twisted clockwise to make the contact surface adaptive to the side Aab.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-legged robot adapted for physical interaction in an unstructured environment, comprising: the robot comprises a multi-legged robot body and a leg structure, wherein the leg structure is mounted on the multi-legged robot body;

the network structure of the leg structure adopts a spatial three-dimensional network structure, and the spatial three-dimensional network structure is based on the positions of nodes and orderly combined in space by adopting connecting rods;

the connecting rods are flexible connecting rods, and the spatial three-dimensional network structure realizes adaptive coating on the external environment through elastic deformation among the flexible connecting rods;

wherein, the space three-dimensional network structure is a first basic unit, or a second basic unit, or the superposition of the first basic unit and a plurality of second basic units, or the superposition of a plurality of second basic units; wherein:

2. The multi-legged robot according to claim 1, wherein the connecting rods are hollow flexible rods.

3. The multi-legged robot according to claim 1, wherein any one of the second nodes and the second node closest thereto are connected by the link;

4. The multi-legged robot according to claim 3, wherein any of the second nodes and one or more second nodes not connected thereto are connected by the link;

5. The multi-legged robot according to claim 1, wherein any one of the third nodes and a third node closest thereto are connected by the link;

6. The multi-legged robot according to claim 5, wherein any one of the third nodes and one or more third nodes not connected thereto are connected by the link;

7. The multi-legged robot according to any one of claims 1-6, further comprising: a sensing system;

the connecting rod of the leg structure is provided with a light path inlet and a light path outlet, the light source device and the photosensitive device are connected with the optical signal processor, the light source device is arranged at the light path inlet, and the photosensitive device is arranged at the light path outlet;

the light emitted by the light source device enters the hollow channel of the connecting rod through the light path inlet and is transmitted to the photosensitive device through the light path outlet;

8. The multi-legged robot according to claim 7, wherein a single or multiple fiber optic loops are embedded in the hollow channel of the connecting rod;