CN110900596B - Unconstrained bionic soft arthropod robot and driving method thereof - Google Patents
Unconstrained bionic soft arthropod robot and driving method thereof Download PDFInfo
- Publication number
- CN110900596B CN110900596B CN201911087896.0A CN201911087896A CN110900596B CN 110900596 B CN110900596 B CN 110900596B CN 201911087896 A CN201911087896 A CN 201911087896A CN 110900596 B CN110900596 B CN 110900596B
- Authority
- CN
- China
- Prior art keywords
- foot
- limb
- hydraulic joint
- unconstrained
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an unconstrained bionic soft arthropod robot and a driving method thereof. The soft robot can adapt to the external environment through self deformation, and can operate in the environment with narrow space. The invention relates to an unconstrained bionic soft arthropod robot, which comprises a foot limb, a driving component, an integrated circuit substrate and a robot body, wherein the foot limb is connected with the driving component; the foot limb comprises a mounting mass block, a first pneumatic joint, a second pneumatic joint and a toe cushion block. The first pneumatic joint and the second pneumatic joint are identical in structure and respectively comprise an end rod, an elastic liquid bag and an elastic belt. The drive assembly includes a positive electrode, a negative electrode, and a reservoir bladder. The positive electrode and the negative electrode are respectively arranged on two sides of the liquid storage bag body. According to the invention, the joint is driven to move by applying voltage to the driving assembly to increase the internal liquid pressure, and the driving method avoids additional hydraulic sources and control valves, so that the size of the robot is greatly reduced, and the robot can realize no external circuit, namely unconstrained movement.
Description
Technical Field
The invention belongs to the technical field of software robots, and particularly relates to an unconstrained bionic software arthropod robot and a driving method thereof.
Background
The use of a robot has become an indispensable product in industrial production and life, and the robot in the traditional sense mainly has a rigid structure, but the rigid structure material thereof causes that the robot cannot adapt to the change of a complex environment, which causes the robot to have the defects of large size, low safety and the like. As people become more and more aware of interactions with unstructured environments, robots must become less rigid and immobilized. The soft robot has good flexibility, can adapt to the external environment through self deformation, can operate in the environment with narrow space, and has wide application prospect in the aspects of rescue and detection. Meanwhile, the soft robot has good biocompatibility, does not damage biological tissues and has good human-computer interaction. The software robot is an emerging research field, and related research is still in the initial stage. Therefore, the development of the software robot theory and the research of the related technology are of great significance to the development and application of the software robot technology. The existing soft robot generally needs external air pipes, pumps, control valves and other drive controls, and greatly restricts the motion of the soft robot, so the invention provides an unconstrained bionic soft arthropod robot and a drive method thereof by imitating the hydraulic drive principle of spider legs.
Disclosure of Invention
The invention aims to provide an unconstrained bionic soft body arthropod robot and a driving method thereof.
The invention relates to an unconstrained bionic soft arthropod robot which comprises a foot limb, a driving assembly, an integrated circuit substrate and a robot body. The number of the foot limbs is 2n, and n is more than or equal to 2. Wherein the n foot limbs are arranged on one side of the body; the other n foot limbs are arranged on the other side of the body. 4n drive components are all installed on the machine body. The foot limb comprises a mounting mass block, a first hydraulic joint, a second hydraulic joint and a toe cushion block. The mounting mass block is fixed with the machine body. One end of the first hydraulic joint is fixed with the mounting mass block, and the other end of the first hydraulic joint is fixed with one end of the second hydraulic joint. The other end of the second hydraulic joint is fixed with a toe cushion block. The rotating axis of the first hydraulic joint is vertically arranged; the rotation axis of the second hydraulic joint is horizontally arranged.
The first hydraulic joint and the second hydraulic joint are identical in structure and respectively comprise an end rod, an elastic liquid bag and an elastic belt. The inner ends of the two end rods are hinged. The elastic liquid sac is arranged between the inner ends of the two end rods. The two ends of the elastic belt are respectively fixed with the middle parts of the two end part rods.
The driving assembly comprises a positive electrode, a negative electrode and a liquid storage bag body. The positive electrode and the negative electrode are respectively arranged on two sides of the liquid storage bag body; the negative electrode is grounded; the positive electrode is connected to a voltage providing device on the integrated circuit substrate. Liquid storage bag bodies in the 4n driving assemblies are respectively communicated with the 4n elastic liquid bags; liquid dielectric medium is filled in the liquid storage bag body and the elastic liquid bag.
Preferably, the integrated circuit substrate comprises a controller, a wireless module and a high voltage generator. The control interface of the high-voltage generator is connected with the controller. The 4n output interfaces of the high-voltage generator are respectively connected with the positive electrodes in the 4n driving components. The communication interface of the wireless module is connected with the controller. The wireless module is communicated with the upper computer.
Preferably, the positive electrode and the negative electrode are made of ion-conductive polyacrylamide hydrogel.
Preferably, the inner ends of the two end rods are provided with inclined planes which form an angle of 45 degrees with the axis of the end rods.
Preferably, the elastic liquid sac is made of silicon rubber. The material of the liquid storage bag body adopts polydimethylsiloxane.
Preferably, the liquid dielectric medium is vegetable transformer oil.
Preferably, the body and toe pad are made of rubber.
Preferably, the foot limb further comprises a connecting sleeve. The opposite ends of the first hydraulic joint and the second hydraulic joint respectively extend into the two ends of the connecting sleeve.
Preferably, the body is rectangular; the inner ends of the foot limbs are arranged in the trapezoidal grooves at the side parts of the machine body. Each driving component is arranged in a circular slot on the top of the machine body. The integrated circuit substrate is mounted on the top of the body.
The driving method of the unconstrained bionic soft arthropod robot comprises a front-back driving method, a left-turn driving method and a right-turn driving method.
The front and rear driving method is as follows:
step one, sequentially taking 2n foot limbs as working foot limbs to execute the foot limb forward movement action. The process of the foot limb advancing action is as follows:
and controlling a driving component corresponding to a second hydraulic joint of the working foot limb to be electrified, so that the second hydraulic joint of the working foot limb extends, and a toe cushion block at the tail end of the working foot limb is separated from the ground.
And secondly, controlling a driving component corresponding to the first hydraulic joint of the working foot limb to be electrified, so that the first hydraulic joint of the working foot limb extends, and a toe cushion block at the tail end of the working foot limb moves forwards.
And thirdly, controlling the power-off of a driving component corresponding to a second hydraulic joint of the working foot limb to restore the second hydraulic joint to the original state, and enabling a toe cushion block at the tail end of the working foot limb to contact the ground.
And step two, controlling the synchronous power-off of driving assemblies corresponding to the first hydraulic joints in the four foot limbs to restore the original state of the four first hydraulic joints, so that the machine body moves forwards.
And step three, repeating the step one and the step two to enable the body to continuously advance.
The left-turn driving method specifically comprises the following steps:
and step one, taking the right front foot limb and the right rear foot limb as working foot limbs in sequence, and executing foot limb forward movement action to enable the four foot limbs to move forwards.
And step two, controlling the driving components corresponding to the first hydraulic joints in the right front foot limb and the right rear foot limb to be powered off synchronously, so that the first hydraulic joints in the right front foot limb and the right rear foot limb are restored to the original state, and the machine body deflects leftwards.
And step three, repeating the step one and the step two until the steering amplitude meets the requirement.
The right-turn driving method specifically comprises the following steps:
and step one, taking the left forelimb and the left hind limb as working foot limbs in sequence, and executing foot limb forward movement action to enable the four foot limbs to move forwards.
And step two, controlling the driving components corresponding to the first hydraulic joints in the left forelimb and the left hind limb to be powered off synchronously, so that the first hydraulic joints in the left forelimb and the left hind limb are restored to the original state, and the machine body deflects rightwards.
And step three, repeating the step one and the step two until the steering amplitude meets the requirement.
The invention has the beneficial effects that:
1. according to the invention, by applying voltage to the driving assembly, an electric field is induced by liquid and the elastomer dielectric medium, static Maxwell stress is generated, and the internal liquid pressure is increased, so that the joint motion is driven.
2. The invention designs a flexible joint according to the principle of the motion of spider leg joints, the foot limbs of the robot are formed by assembling a plurality of joints, the motion of the joints is controlled, so that the whole foot limb is controlled, and the motion of the robot is further controlled.
3. The robot structural component is made of flexible materials generally, can adapt to external environments, can be electrified in narrow and small space environments, and can be applied to aspects of rescue, detection and the like.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the structure of a foot limb of the present invention;
FIG. 3 is a schematic structural view of a first hydraulic joint or a second hydraulic joint according to the present invention;
fig. 4 is a schematic structural view of a driving assembly according to the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, an unconstrained bionic soft body arthropod robot includes a foot limb 1, a driving assembly 2, an integrated circuit substrate 3 and a body 4. The body 4 is a cuboid, the left side and the right side of the body are both provided with two trapezoidal grooves for mounting the foot limbs 1, the front end and the rear end of the top of the body are provided with eight circular slotted holes for mounting the driving component 2, and the center of the top of the body is provided with a threaded hole for mounting and fixing the integrated circuit substrate 3. The four foot limbs 1 are arranged in the trapezoidal grooves at two sides of the body 4 in a group of two. Eight driving assemblies 2 are respectively installed in eight circular slots on the machine body 4. The integrated circuit substrate 3 is mounted on top of the body 4. The body 4 is made of rubber.
As shown in fig. 1 and 2, the foot limb 1 comprises a mounting mass 5, a first hydraulic joint 6, a second hydraulic joint 7, a connecting sleeve 8 and a toe block 9. The mounting mass block 5 is provided with a threaded through hole and fixed with the machine body 4 through a screw, so that one end of the first hydraulic joint 6 is fixed. The rotation axis of the first hydraulic joint 6 is arranged vertically and is used for controlling the horizontal rotation of the foot limb 1, namely the forward movement of the foot limb 1. One end of the first hydraulic joint 6 is bonded to the mounting mass 5, and the other end is bonded to one end of the second hydraulic joint 7 through a connecting sleeve 8. The opposite ends of the first hydraulic joint 6 and the second hydraulic joint 7 respectively extend into the two ends of the connecting sleeve 8 to increase reliability. The rotation axis of the second hydraulic joint 7 is horizontally arranged and is used for controlling the vertical rotation of the end part of the foot limb 1, namely controlling the end part of the foot limb 1 to be lifted and leave the ground. The other end of the second hydraulic joint 7 is fixedly bonded with the toe cushion block 9. The toe cushion block 9 is positioned at the tail end of the foot limb 1 and is in contact with the ground, and the rubber material is adopted, so that the friction in contact with the ground is increased, and the robot can move better.
As shown in fig. 2 and 3, the first hydraulic joint 6 and the second hydraulic joint 7 are identical in structure and each include an end rod 10, an elastic sac 11, an elastic band 12, and a hinge 16. The end bar 10 is made of aluminum. The inner ends of the two end rods 10 are hinged together by a hinge 16. The inner ends of the two end rods 10 are provided with inclined planes which form an angle of 45 degrees with the axis of the end rods. When the inclined surfaces of the inner ends of the two end rods 10 are in contact, the axes of the two end rods 10 are perpendicular to each other. An elastic sac 11 is arranged between the inclined planes of the inner ends of the two end rods 10. Both ends of the elastic band 12 are fixed to the middle portions of the two end rods 10, respectively.
The elastic liquid bag 11 is made of silicon rubber. When the elastic liquid sac is not inflated, the hydraulic joint is in a bending state due to the restoring force of the elastic belt 12; when the elastic liquid bag is filled with liquid, the elastic liquid bag expands to push the outer ends of the two end rods 10 to rotate back to back, so that the hydraulic joint is stretched. The expansion and contraction of the eight elastic liquid bags 11 are controlled by the eight driving assemblies 2 respectively.
As shown in fig. 4, the driving assembly 2 includes a positive electrode 14, a negative electrode 15, and a reservoir bag 13. The material of the reservoir bag body 13 is Polydimethylsiloxane (PDMS). The positive electrode 14 and the negative electrode 15 are respectively arranged at the upper side and the lower side of the liquid storage bag body 13; the negative electrode 15 is grounded; when voltage is applied to the positive electrode 14, an electric field is induced between the positive electrode 14 and the negative electrode 15, and electrostatic maxwell stress is generated, so that the positive electrode 14 and the negative electrode 15 mutually attract and press the liquid storage bag body 13, the pressure inside the liquid storage bag body 13 is increased, and the corresponding joint is driven to extend. The liquid storage bag bodies 13 in the eight driving assemblies 2 are respectively communicated with the eight elastic liquid bags 11 through hoses; the liquid storage bag body 13 and the elastic liquid bag 11 are filled with liquid dielectric medium. The liquid dielectric medium is plant transformer oil. When the liquid storage bag body 13 is pressed by the positive electrode 14 and the negative electrode 15, the liquid dielectric medium in the liquid storage bag body 13 flows to the corresponding elastic liquid bag 11, so that the corresponding elastic liquid bag 11 expands to drive the corresponding hydraulic joint to extend. The magnitude of the hydraulic joint extension is controlled by the magnitude of the voltage input to positive electrode 14.
The integrated circuit substrate 3 includes a controller, a wireless module, and a high voltage generator. The control interface of the high-voltage generator is connected with the controller. The controller, the wireless module and the high-voltage generator are all powered by the voltage stabilizing module and the battery. Eight output interfaces of the high-voltage generator are respectively connected with positive electrodes in the eight driving assemblies 2. The communication interface of the wireless module is connected with the controller. The wireless module is communicated with the upper computer to realize remote control of the robot. And a high voltage generator for providing an energizing voltage required for driving the assembly 2. The controller is used for controlling whether the driving assembly is electrified or not and the electrifying sequence, so that the motion control of the four limbs of the robot is realized.
As a preferred technical solution, the positive electrode 14 and the negative electrode 15 are made of ion-conductive Polyacrylamide (PAM) hydrogel; the ion-conductive Polyacrylamide (PAM) hydrogel is a flexible material that does not impede forced deformation of the body 4. This enhances the terrain-adaptive capabilities of the present invention.
The driving method of the unconstrained bionic soft arthropod robot comprises a front-back driving method, a left-turn driving method and a right-turn driving method. The four foot limbs are divided into a left front foot limb, a right rear foot limb and a left rear foot limb according to the left-right front-back relation of the advancing direction.
The front and rear driving method is as follows:
step one, taking a left forelimb, a right hind limb and a left hind limb as working foot limbs in sequence, and executing foot limb forward movement actions to enable the four foot limbs to move forwards. The process of the foot limb advancing action is as follows:
and controlling the corresponding driving component of the second hydraulic joint 7 of the working foot limb to be electrified (namely, the corresponding positive motor to be electrified), so that the second hydraulic joint 7 of the working foot limb extends, and the toe cushion block 9 at the tail end of the working foot limb is separated from the ground.
And secondly, controlling a driving component corresponding to the first hydraulic joint 6 of the working foot limb to be electrified, so that the first hydraulic joint of the working foot limb extends, and the toe cushion block 9 at the tail end of the working foot limb moves forwards.
And thirdly, controlling the power-off of a driving component corresponding to the second hydraulic joint 7 of the working foot limb to restore the second hydraulic joint 7, and enabling the toe cushion block 9 at the tail end of the working foot limb to contact the ground.
And step two, controlling the driving components corresponding to the first hydraulic joints 6 in the four limbs to be powered off synchronously, so that the four first hydraulic joints 6 are restored to the original state, and because the end part of each limb is provided with a toe cushion block 9 with a larger friction coefficient, the friction is larger, so that the robot body moves forwards, and the robot can run forwards.
And step three, repeating the step one and the step two to enable the body to continuously advance.
The left-turn driving method specifically comprises the following steps:
and step one, taking the right front foot limb and the right rear foot limb as working foot limbs in sequence, and executing foot limb forward movement action to enable the four foot limbs to move forwards.
And step two, controlling the driving components corresponding to the first hydraulic joints 6 in the right front foot limb and the right rear foot limb to be powered off synchronously, and enabling the first hydraulic joints 6 in the right front foot limb and the right rear foot limb to be restored to the original state, so that the right side of the machine body moves forwards, and the whole machine body deflects leftwards.
And step three, repeating the step one and the step two until the steering amplitude meets the requirement.
The right-turn driving method specifically comprises the following steps:
and step one, taking the left forelimb and the left hind limb as working foot limbs in sequence, and executing foot limb forward movement action to enable the four foot limbs to move forwards.
And step two, controlling the driving components corresponding to the first hydraulic joints 6 in the left forelimb and the left hind limb to be powered off synchronously, so that the first hydraulic joints 6 in the left forelimb and the left hind limb are restored to the original state, the left side of the machine body moves forwards, and the whole machine body deflects rightwards.
And step three, repeating the step one and the step two until the steering amplitude meets the requirement.
Claims (10)
1. An unconstrained bionic soft arthropod robot comprises foot limbs, a driving component, an integrated circuit substrate and a robot body; the method is characterized in that: the number of the foot limbs is 2n, and n is more than or equal to 2; wherein the n foot limbs are arranged on one side of the body; the other n foot limbs are arranged on the other side of the body; 4n driving components are all arranged on the machine body; the foot limb comprises a mounting mass block, a first hydraulic joint, a second hydraulic joint and a toe cushion block; the mounting mass block is fixed with the machine body; one end of the first hydraulic joint is fixed with the mounting mass block, and the other end of the first hydraulic joint is fixed with one end of the second hydraulic joint; a toe cushion block is fixed at the other end of the second hydraulic joint; the rotating axis of the first hydraulic joint is vertically arranged; the rotation axis of the second hydraulic joint is horizontally arranged;
the first hydraulic joint and the second hydraulic joint have the same structure and respectively comprise an end rod, an elastic liquid bag and an elastic belt; the inner ends of the two end rods are hinged; the elastic liquid bag is arranged between the inner ends of the two end rods; two ends of the elastic belt are respectively fixed with the middle parts of the two end rods;
the driving assembly comprises a positive electrode, a negative electrode and a liquid storage bag body; the positive electrode and the negative electrode are respectively arranged on two sides of the liquid storage bag body; the negative electrode is grounded; the positive electrode is connected with a voltage supply device on the integrated circuit substrate; liquid storage bag bodies in the 4n driving assemblies are respectively communicated with the 4n elastic liquid bags; liquid dielectric medium is filled in the liquid storage bag body and the elastic liquid bag.
2. The unconstrained bionic soft arthropod robot according to claim 1, wherein: the integrated circuit substrate comprises a controller, a wireless module and a high-voltage generator; the control interface of the high-voltage generator is connected with the controller; 4n output interfaces of the high-voltage generator are respectively connected with positive electrodes in the 4n driving components; the communication interface of the wireless module is connected with the controller; the wireless module is communicated with the upper computer.
3. The unconstrained bionic soft arthropod robot according to claim 1, wherein: the positive electrode and the negative electrode are made of ion-conductive polyacrylamide hydrogel.
4. The unconstrained bionic soft arthropod robot according to claim 1, wherein: the inner ends of the two end rods are provided with inclined planes which form an angle of 45 degrees with the axis of the two end rods.
5. The unconstrained bionic soft arthropod robot according to claim 1, wherein: the elastic liquid bag is made of silicon rubber; the material of the liquid storage bag body adopts polydimethylsiloxane.
6. The unconstrained bionic soft arthropod robot according to claim 1, wherein: the liquid dielectric medium is plant transformer oil.
7. The unconstrained bionic soft arthropod robot according to claim 1, wherein: the machine body and the toe cushion block are made of rubber.
8. The unconstrained bionic soft arthropod robot according to claim 1, wherein: the foot limb also comprises a connecting sleeve; the opposite ends of the first hydraulic joint and the second hydraulic joint respectively extend into the two ends of the connecting sleeve.
9. The unconstrained bionic soft arthropod robot according to claim 1, wherein: the machine body is cuboid; the inner ends of the foot limbs are arranged in the trapezoidal grooves at the side parts of the machine body; each driving component is arranged in a circular slot at the top of the machine body; the integrated circuit substrate is mounted on the top of the body.
10. The method for driving an unconstrained bionic soft arthropod robot according to claim 1, wherein: the method comprises a front-back driving method, a left-turn driving method and a right-turn driving method;
the front and rear driving method is as follows:
step one, sequentially taking 2n foot limbs as working foot limbs to execute the foot limb forward movement action; the process of the foot limb advancing action is as follows:
controlling a driving component corresponding to a second hydraulic joint of the working foot limb to be electrified, so that the second hydraulic joint of the working foot limb extends, and a toe cushion block at the tail end of the working foot limb is separated from the ground;
controlling a driving component corresponding to a first hydraulic joint of the working foot limb to be electrified, so that the first hydraulic joint of the working foot limb extends, and a toe cushion block at the tail end of the working foot limb moves forwards;
controlling a driving component corresponding to a second hydraulic joint of the working foot limb to be powered off, so that the second hydraulic joint is restored to the original state, and a toe cushion block at the tail end of the working foot limb is contacted with the ground;
step two, controlling the synchronous power-off of driving assemblies corresponding to the first hydraulic joints in the four foot limbs to restore the original state of the four first hydraulic joints so as to enable the machine body to move forwards;
step three, repeating the step one and the step two to enable the body to continuously advance;
the left-turn driving method specifically comprises the following steps:
step one, taking a right front foot limb and a right rear foot limb as working foot limbs in sequence, and executing foot limb forward movement actions to enable four foot limbs to move forwards;
step two, controlling the synchronous power-off of driving components corresponding to the first hydraulic joints in the right front foot limb and the right rear foot limb to restore the original state of the first hydraulic joints in the right front foot limb and the right rear foot limb so as to enable the body to deflect leftwards;
step three, repeating the step one and the step two until the steering amplitude meets the requirement;
the right-turn driving method specifically comprises the following steps:
step one, taking a left forelimb and a left hind limb as working foot limbs in sequence, and executing foot limb forward movement action to enable four foot limbs to move forwards;
step two, controlling the synchronous power-off of driving components corresponding to first hydraulic joints in the left forelimb and the left hind limb to restore the original state of the first hydraulic joints in the left forelimb and the left hind limb so as to enable the body to deflect rightwards;
and step three, repeating the step one and the step two until the steering amplitude meets the requirement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911087896.0A CN110900596B (en) | 2019-11-08 | 2019-11-08 | Unconstrained bionic soft arthropod robot and driving method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911087896.0A CN110900596B (en) | 2019-11-08 | 2019-11-08 | Unconstrained bionic soft arthropod robot and driving method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110900596A CN110900596A (en) | 2020-03-24 |
| CN110900596B true CN110900596B (en) | 2021-03-16 |
Family
ID=69816920
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911087896.0A Active CN110900596B (en) | 2019-11-08 | 2019-11-08 | Unconstrained bionic soft arthropod robot and driving method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110900596B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923022B (en) * | 2020-07-08 | 2022-09-30 | 杭州电子科技大学 | Unconstrained mobile soft robot and driving method thereof |
| CN112498633A (en) * | 2020-11-25 | 2021-03-16 | 杭州电子科技大学 | Bionic underwater robot and driving method thereof |
| CN114087168B (en) * | 2021-10-29 | 2024-07-26 | 杭州电子科技大学 | Flexible self-excitation type liquid flow control pneumatic generating tube, pneumatic pump and robot |
| CN114194341B (en) * | 2021-12-20 | 2022-11-18 | 杭州电子科技大学 | Overwater self-driven photographing robot and using method thereof |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| MX2015000727A (en) * | 2015-01-08 | 2016-07-07 | Ignacio Juarez Campos | Reconfiguration system for hexapod robot equipped with at least one propulsion unit based on mechanisms of accurate path. |
| GB201802209D0 (en) * | 2018-02-09 | 2018-03-28 | Bladebug Ltd | Wind turbine blade inspection system |
| CN109533080B (en) * | 2018-12-29 | 2021-07-30 | 北京工商大学 | Six-foot robot |
| CN109774812A (en) * | 2019-01-14 | 2019-05-21 | 南昌大学 | There are two types of the multi-foot robot devices of motor pattern for a kind of tool |
-
2019
- 2019-11-08 CN CN201911087896.0A patent/CN110900596B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110900596A (en) | 2020-03-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110900596B (en) | Unconstrained bionic soft arthropod robot and driving method thereof | |
| Gu et al. | A survey on dielectric elastomer actuators for soft robots | |
| CN107914269B (en) | Software robot based on honeycomb pneumatic network | |
| CN111923022B (en) | Unconstrained mobile soft robot and driving method thereof | |
| CN112223259A (en) | High-storage-rate bionic pneumatic soft worm robot based on paper folding theory | |
| CN110216712B (en) | Pneumatic adsorption inchworm-like soft climbing robot | |
| CN106891328B (en) | Passive hip joint automatic centering mechanism and exoskeleton robot | |
| CN110253562A (en) | A kind of quadruped robot flexible spinal based on pneumatic muscles | |
| CN111113387A (en) | Bionic flexible spine structure for multi-legged robot | |
| CN110757434A (en) | Artificial muscle based on dielectric elastomer and intelligent fluid with adjustable rigidity and manufacturing method thereof | |
| CN103786164A (en) | Pneumatic multidirectional bending flexible joint | |
| CN106956247B (en) | Active compliant vertebra of serial-parallel four-foot robot | |
| CN103386686B (en) | A kind of spherical transformable soft robot | |
| CN110539815A (en) | Bionic foot type mechanism with terrain adaptability | |
| CN107380292A (en) | Three leg formula climbing robots | |
| CN103317505B (en) | A kind of transformable soft robot | |
| CN113635316A (en) | Multi-form and multifunctional blanket type robot under vibration excitation | |
| CN202592389U (en) | Single-curvature flexible joint device for limbs of bionic machines and robots | |
| CN205343163U (en) | Pneumatic bend in one direction flexible joint of dual drive | |
| Chen et al. | A soft, lightweight flipping robot with versatile motion capabilities for wall-climbing applications | |
| CN209180574U (en) | A kind of pneumatic type pipe robot with detection function | |
| CN115465377A (en) | Multi-step earthworm bionic soft robot and working method | |
| CN111975808A (en) | Air control soft bionic mechanical finger | |
| CN108128366A (en) | A kind of humanoid wheeled robot with suspended structure | |
| CN211806137U (en) | Bionic flexible spine structure for multi-legged robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |