CN114310963A - Multi-foot skiing robot - Google Patents
Multi-foot skiing robot Download PDFInfo
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- CN114310963A CN114310963A CN202210053605.1A CN202210053605A CN114310963A CN 114310963 A CN114310963 A CN 114310963A CN 202210053605 A CN202210053605 A CN 202210053605A CN 114310963 A CN114310963 A CN 114310963A
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- 210000002414 leg Anatomy 0.000 claims description 66
- 210000000689 upper leg Anatomy 0.000 claims description 43
- 210000004394 hip joint Anatomy 0.000 claims description 17
- 210000000629 knee joint Anatomy 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000008859 change Effects 0.000 abstract description 2
- 210000003141 lower extremity Anatomy 0.000 abstract 1
- 230000000712 assembly Effects 0.000 description 5
- 238000000429 assembly Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 241000238631 Hexapoda Species 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
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Abstract
The application discloses many sufficient robots of skiing, the robot includes: the robot comprises a robot body, a front leg assembly and a rear leg assembly, wherein the front leg assembly and the rear leg assembly are respectively connected with the robot body in a rotating mode, and the same side of the front leg assembly and the same side of the rear leg assembly are arranged and are further connected with a snowboard in a rotating mode. This application focus is low, and stability is high to with setting up of same side the foreleg subassembly rotates with the hind leg subassembly and is connected to a ski, and the ski can realize the required various actions of skiing, simultaneously, because a ski is controlled to two legs, can have sufficient strength drive ski to realize the load that various angle change needs.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a skiing multi-foot robot.
Background
Research on foot type robots for skiing is not abundant at present, and T.yo-neyama et al of Japan Jinze university develops a two-foot skiing robot in 2009, each leg has 6 degrees of freedom, and the robot slides on an artificial grass slope simulating a snowfield environment according to a joint track edited in advance by adopting open-loop control. A robot laboratory of Jozef Stefan college of Lubuyana university develops a two-foot skiing robot, an algorithm based on zero-space velocity control is adopted, a dynamic stability index of the robot is defined by a normalized Zero Moment Point (ZMP), the skiing robot is regarded as a double inverted pendulum serial model, and the ZMP is controlled inaccurately to perform priority sequencing on motion tasks, so that the turning stability of the skiing robot is maximized. Han et al, the university of seoul, developed a two-footed ski robot RoK-2 and participated in the ski robot race. The robot adopts a Zero Moment Point (ZMP) method for stable control, and uses a deep learning technology to deal with image distortion caused by outdoor light change. Autonomous skiing based on simultaneous localization and mapping (SLAM) technology is adopted in path decision, and the direction and distance of the marker are estimated by using the information of the direction angle and the pixel position of the marker, so that decisions such as sliding and steering are carried out. Although the robot achieves basic functions of skiing, the success rate and the stability of the system still need to be further improved.
Disclosure of Invention
In view of the above-mentioned shortcomings or drawbacks of the prior art, the present application provides a skiing multi-legged robot.
In order to solve the technical problem, the application is realized by the following technical scheme:
the application provides a many sufficient robots of skiing, the robot includes: the robot comprises a robot body, a front leg assembly and a rear leg assembly, wherein the front leg assembly and the rear leg assembly are respectively connected with the robot body in a rotating mode, and the same side of the front leg assembly and the same side of the rear leg assembly are arranged and are further connected with a snowboard in a rotating mode.
Optionally, the ski-cycling robot is described above, wherein the front leg assembly is pivotally connected to the ski by a ball pair assembly.
Optionally, the ski-cycling robot is described above, wherein the rear leg assembly is pivotally connected to the ski via a universal joint.
Optionally, the ski multi-legged robot as described above, wherein the front leg assembly comprises: the robot comprises a first thigh and a first shank, wherein the first thigh is rotatably connected with the first shank, the first thigh is further rotatably connected with the robot body, and the first shank is rotatably connected with the snowboard through a ball pair assembly.
Optionally, the ski multi-legged robot as described above, wherein said front leg assembly further comprises: a first driving motor module arranged on the first thigh,
the first driving motor module comprises: a first swing motor, a first hip joint motor and a first knee joint motor,
the first swing motor is used for driving the front leg assembly to swing laterally, the first hip joint motor is used for driving the first thigh to rotate, and the first knee joint motor drives the first shank to rotate through the first connecting rod mechanism.
Optionally, the ski multi-legged robot as described above, wherein the rear leg assembly comprises: the robot comprises a first thigh and a first shank, wherein the first thigh is rotatably connected with the first shank, the first thigh is further rotatably connected with the robot body, and the first shank is rotatably connected with the snowboard through a universal joint.
Optionally, the ski multi-legged robot as described above, wherein said rear leg assembly further comprises: a second drive motor module arranged on the second thigh,
the second driving motor module comprises: a second swing motor, a second hip joint motor and a second knee joint motor,
the second swing motor is used for driving the rear leg assembly to swing laterally, the second hip joint motor is used for driving the second thigh to rotate, and the second knee joint motor drives the second shank to rotate through a second connecting rod mechanism.
Optionally, the ski multi-legged robot further comprises: the middle leg assembly is used for achieving skiing support and is in rotating connection with the robot body.
Optionally, the ski multi-legged robot as described above, wherein said middle leg assembly comprises: the third thigh is connected with the ski pole in a rotating mode, and the third thigh is further connected with the robot body in a rotating mode.
Optionally, the ski multi-legged robot as described above, wherein said middle leg assembly further comprises: a third driving motor module arranged on the third thigh,
the third driving motor module comprises: a third swing motor, a third hip joint motor and a third knee joint motor,
the third swing motor is used for driving the middle leg assembly to swing laterally, the third hip joint motor is used for driving the third thigh to rotate, and the third knee joint motor drives the ski pole to rotate through a third connecting rod mechanism.
Optionally, the ski-cycling robot is further provided with a six-dimensional force sensor between the front leg assembly and the ski, and/or a six-dimensional force sensor between the rear leg assembly and the ski.
Optionally, the skiing multi-legged robot as described above, wherein the robot employs an insect-like structure.
Compared with the prior art, the method has the following technical effects:
the front leg assembly and the rear leg assembly arranged on the same side are rotationally connected to one snowboard, the snowboard can realize various actions required by skiing, and meanwhile, as the two legs control one snowboard, enough force can be provided for driving the snowboard to realize loads required by various angle changes;
this application is through rotating foreleg subassembly and back leg subassembly and be connected to on the skis to control the skis gesture, realize the support in the robot removes with the swing of middle leg, realized the quick stable control of robot skiing.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1: a perspective view of the skiing multi-legged robot of one embodiment of the application;
FIG. 2: the splayed-in posture control chart of the skiing multi-legged robot in the embodiment of the application;
FIG. 3: the force-blade attitude control chart of the skiing multi-legged robot is provided;
FIG. 4: the structure of the snowboard in one embodiment of the application is schematically shown;
FIG. 5: a state diagram of a front leg assembly in one embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1 and 3, in one embodiment of the present application, a ski multi-legged robot, the robot comprising: the robot comprises a robot body 10, a front leg assembly 20 and a rear leg assembly 30, wherein the front leg assembly 20 and the rear leg assembly 30 are respectively connected with the robot body 10 in a rotating mode, and the front leg assembly 20 and the rear leg assembly 30 are arranged on the same side and are also connected with a snowboard 50 in a rotating mode. The present embodiment has a low center of gravity and high stability, and the front leg assembly 20 and the rear leg assembly 30 disposed on the same side are rotatably coupled to one snowboard 50, the snowboard 50 can perform various motions required for skiing, and at the same time, since two legs control one snowboard 50, there is enough force to drive the snowboard 50 to perform various angle-change required loads.
Specifically, in the present embodiment, the front leg assembly 20 is pivotally connected to the snowboard 50 via a ball pair assembly 23.
Further preferably, the rear leg assembly 30 is pivotally connected to the snowboard 50 by a universal joint 33.
In the present embodiment, the front leg assembly 20 is pivotally connected to the snowboard 50 via the ball pair assembly 23, and the rear leg assembly 30 is connected to the snowboard 50 via the universal joint 33, so that the snowboard 50 can achieve the splayed-in posture when the front leg assembly 20 is inward and the rear leg assembly 30 is diverged outward, as shown in fig. 2; when the front and rear leg assemblies 20, 30 diverge outwardly, the snowboard 50 can assume a blade-up position, as shown in FIG. 3. This embodiment realizes 50 vertical edges of skis through the adjustment supporting leg gesture, realizes steering control through position about the adjustment focus, realizes speed control through the contained angle of adjustment skis 50.
The connection relationship between the ball pair assembly 23 and the universal joint 33 and the snowboard 50 is schematically shown in fig. 4.
In this embodiment, two front leg assemblies 20 and two rear leg assemblies 30 are preferably provided, wherein one of the front leg assemblies 20 and the rear leg assembly 30 disposed on the same side are rotatably mounted on the same snowboard 50, and the other of the front leg assemblies 20 and the rear leg assembly 30 disposed on the same side are rotatably mounted on the same snowboard 50. In this case, the present embodiment is preferably a quadruped robot.
As shown in fig. 5, the front leg assembly 20 includes: the robot comprises a first thigh 21 and a first shank 22, wherein the first thigh 21 and the first shank 22 are rotatably connected, the first thigh 21 is also rotatably connected with the robot body 10, and the first shank 22 is rotatably connected with the snowboard 50 through a ball pair assembly 23.
In the present embodiment, the front leg assembly 20 has three degrees of freedom.
Specifically, the front leg assembly 20 further includes: a first driving motor module 201 disposed on the first thigh 21,
the first driving motor module 201 includes: a first swing motor 202, a first hip motor 203, and a first knee motor 204,
the first swing motor 202 is configured to drive the front leg assembly 20 to swing laterally, the first hip motor 203 is configured to drive the first thigh 21 to rotate, and the first knee motor 204 drives the first shank 22 to rotate through a first link mechanism.
In the present embodiment, the arrangement positions of the first swing motor 202, the first hip joint motor 203, and the first knee joint motor 204 can be adjusted according to actual situations, and fig. 5 only illustrates one of the realizable manners.
In the present embodiment, the rear leg assembly 30 and the front leg assembly 20 have substantially the same structure, and a person skilled in the art can clearly understand the specific structure of the rear leg assembly 30 based on the technical solutions disclosed in the foregoing front leg assembly 20.
Specifically, the rear leg assembly 30 includes: the robot comprises a first thigh 31 and a first shank 32, wherein the first thigh 31 and the first shank 32 are rotatably connected, the first thigh 31 is further rotatably connected with the robot body 10, and the first shank 32 is rotatably connected with the snowboard 50 through a universal joint 33.
Likewise, the rear leg assembly 30 has three degrees of freedom. The rear leg assembly 30 further includes: a second driving motor module 301 disposed on the second thigh 31,
the second driving motor module 301 includes: a second swing motor, a second hip joint motor and a second knee joint motor,
the second swing motor is used for driving the rear leg assembly 30 to swing laterally, the second hip joint motor is used for driving the second thigh 31 to rotate, and the second knee joint motor drives the second shank 32 to rotate through a second link mechanism.
This embodiment still includes: a middle leg assembly 40 for realizing skiing support, wherein the middle leg assembly 40 is rotatably connected with the robot body 10. Wherein the middle leg assembly 40 is preferably provided in two. Further preferably, the middle leg assembly 40 is preferably disposed between the front leg assembly 20 and the rear leg assembly 30. When two are provided for each of the front leg assembly 20, the middle leg assembly 40 and the rear leg assembly 30, the present embodiment is preferably a hexapod robot. The middle leg assembly 40 is used to support forward progress, control balance, guide changes, etc. during skiing.
The present embodiment controls the posture of the snowboard 50 by rotatably coupling the front leg assembly 20 and the rear leg assembly 30 to the snowboard 50, and realizes a fast and stable control of the robot skiing by realizing a necessary support in the robot movement with the swing of the middle leg.
Specifically, the middle leg assembly 40 includes: a third thigh 41 and a ski pole 42, said third thigh 41 being rotationally connected to said ski pole 42, said third thigh 41 being further rotationally connected to said robot body 10.
Wherein the middle leg assembly 40 also has three degrees of freedom. The intermediate leg assembly 40 further comprises: a third driving motor module 401 provided on the third thigh 41,
the third driving motor module 401 includes: a third swing motor, a third hip joint motor and a third knee joint motor,
the third swing motor is used for driving the middle leg assembly 40 to swing laterally, the third hip joint motor is used for driving the third thigh 41 to rotate, and the third knee joint motor drives the ski pole 42 to rotate through a third link mechanism.
Further preferably, a six-dimensional force sensor 60 is further installed between the front leg assembly 20 and the snowboard 50, and/or a six-dimensional force sensor 60 is further installed between the rear leg assembly 30 and the snowboard 50. The six-dimensional force sensor 60 can be used for detecting the stress at the tail end of the toe of the robot, so that the robot can conveniently control the motion.
Specifically, the front leg assembly 20 is mounted on a six-dimensional force sensor 60 through a ball pair assembly 23, and the six-dimensional force sensor 60 is mounted on the snowboard 50; the rear leg assembly 30 is mounted to a six-dimensional force transducer 60 via a universal joint 33, the six-dimensional force transducer 60 in turn being mounted to the snowboard 50.
Further preferably, a six-dimensional force sensor 60 may be provided only at the toe end of the rear leg assembly 30 for sensing the torque and force acting on the snowboard 50 by the rear leg.
The robot adopts the class insect structure, through the setting of class insect structure, can improve the flexibility ratio and the stability of robot to skiing control to make the robot have certain pleasing to the eye value.
This application compares with conventional biped skiing robot, has the focus and hangs down, and skiing speed is faster, and is more stable, controllability advantage such as higher, and this robot still has better load capacity concurrently simultaneously, carries, the operation etc. provides support for the robot in the future.
In the description of the present application, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
The above embodiments are merely to illustrate the technical solutions of the present application and are not limitative, and the present application is described in detail with reference to preferred embodiments. It will be understood by those skilled in the art that various modifications and equivalent arrangements may be made in the present invention without departing from the spirit and scope of the present invention and shall be covered by the appended claims.
Claims (12)
1. A ski multi-legged robot, characterized in that it comprises: the robot comprises a robot body, a front leg assembly and a rear leg assembly, wherein the front leg assembly and the rear leg assembly are respectively connected with the robot body in a rotating mode, and the same side of the front leg assembly and the same side of the rear leg assembly are arranged and are further connected with a snowboard in a rotating mode.
2. The ski-snowboard multi-legged robot of claim 1, wherein the front leg assembly is rotationally coupled to the ski by a ball pair assembly.
3. The ski polypod robot of claim 1, wherein the rear leg assembly is rotationally coupled to the ski via a universal joint.
4. The ski polypod robot of claim 1, wherein the front leg assembly comprises: the robot comprises a first thigh and a first shank, wherein the first thigh is rotatably connected with the first shank, the first thigh is further rotatably connected with the robot body, and the first shank is rotatably connected with the snowboard through a ball pair assembly.
5. The ski polypod robot of claim 4,
the front leg assembly further comprises: a first driving motor module arranged on the first thigh,
the first driving motor module comprises: a first swing motor, a first hip joint motor and a first knee joint motor,
the first swing motor is used for driving the front leg assembly to swing laterally, the first hip joint motor is used for driving the first thigh to rotate, and the first knee joint motor drives the first shank to rotate through the first connecting rod mechanism.
6. The ski polypod robot of claim 1, wherein the rear leg assembly comprises: the robot comprises a first thigh and a first shank, wherein the first thigh is rotatably connected with the first shank, the first thigh is further rotatably connected with the robot body, and the first shank is rotatably connected with the snowboard through a universal joint.
7. The ski polypod robot of claim 6, wherein,
the rear leg assembly further comprises: a second drive motor module arranged on the second thigh,
the second driving motor module comprises: a second swing motor, a second hip joint motor and a second knee joint motor,
the second swing motor is used for driving the rear leg assembly to swing laterally, the second hip joint motor is used for driving the second thigh to rotate, and the second knee joint motor drives the second shank to rotate through a second connecting rod mechanism.
8. The ski polypod robot of any one of claims 1 to 7, further comprising: the middle leg assembly is used for achieving skiing support and is in rotating connection with the robot body.
9. The ski polypod robot of claim 8, wherein the middle leg assembly comprises: the third thigh is connected with the ski pole in a rotating mode, and the third thigh is further connected with the robot body in a rotating mode.
10. The ski polypod robot of claim 9, wherein the middle leg assembly further comprises: a third driving motor module arranged on the third thigh,
the third driving motor module comprises: a third swing motor, a third hip joint motor and a third knee joint motor,
the third swing motor is used for driving the middle leg assembly to swing laterally, the third hip joint motor is used for driving the third thigh to rotate, and the third knee joint motor drives the ski pole to rotate through a third connecting rod mechanism.
11. The snowing multi-legged robot of any one of claims 1 to 7, characterized in that a six-dimensional force sensor is further installed between the front leg assembly and the snowboard, and/or a six-dimensional force sensor is further installed between the rear leg assembly and the snowboard.
12. A ski polypod robot as in any one of claims 1 to 7 wherein the robot employs an insect-like structure.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210053605.1A CN114310963B (en) | 2022-01-18 | 2022-01-18 | Skiing multi-legged robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210053605.1A CN114310963B (en) | 2022-01-18 | 2022-01-18 | Skiing multi-legged robot |
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| CN114310963A true CN114310963A (en) | 2022-04-12 |
| CN114310963B CN114310963B (en) | 2024-02-13 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114852209A (en) * | 2022-04-18 | 2022-08-05 | 山东大学 | Wheel-leg combined hexapod robot with sliding function and control method thereof |
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| CN114852209A (en) * | 2022-04-18 | 2022-08-05 | 山东大学 | Wheel-leg combined hexapod robot with sliding function and control method thereof |
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| CN114310963B (en) | 2024-02-13 |
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