CN115214817A

CN115214817A - Slidable quadruped robot

Info

Publication number: CN115214817A
Application number: CN202210908165.3A
Authority: CN
Inventors: 韦中; 张富; 刘佳; 王维西; 赵兴强; 罗勇; 陈大鹏; 宋爱国
Original assignee: Nanjing University of Information Science and Technology
Current assignee: Nanjing University of Information Science and Technology
Priority date: 2022-07-29
Filing date: 2022-07-29
Publication date: 2022-10-21
Anticipated expiration: 2042-07-29
Also published as: CN115214817B

Abstract

The invention belongs to the technical field of robots and discloses a slidable quadruped robot which comprises a front body, a rear body and four legs distributed on two sides of the front body and the rear body. The invention realizes the sliding gait of the robot under the condition of not influencing the leg type movement of the robot, and improves the movement efficiency of the robot in the downward movement of a flat ground, especially a slope.

Description

Slidable quadruped robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a slidable quadruped robot.

Background

The quadruped robot is in discrete contact with the ground, so that the robot can stably move on rough terrain through motion planning and feedback control, and has strong terrain adaptability. Leg movements are less efficient than wheeled movements, particularly when moving down a slope.

Disclosure of Invention

In view of the shortcomings of the prior art, the present invention provides a gliding quadruped robot, which solves the problems mentioned in the background art.

The purpose of the invention can be realized by the following technical scheme:

a slidable quadruped robot comprises a front body, a rear body and four legs distributed on two sides of the front body and the rear body, and is characterized in that the front body and the rear body are rotatably connected through waist joints, each leg comprises a pelvis, a thigh, a shank, a first follower wheel, a second follower wheel and a foot end, the upper end of the pelvis is rotatably connected with the front body and the rear body, the joint is a cross-rolling hip joint, the upper end of the thigh is rotatably connected with the lower end of the pelvis, the joint is a pitching hip joint, the upper end of the shank is rotatably connected with the lower end of the thigh, the joint is a knee joint, the first follower wheel is rotatably arranged on the side face of the upper end of the shank, the second follower wheel is rotatably arranged on the side face of the lower end of the shank, and the foot end is fixedly arranged at the tail end of the lower end of the shank.

Further, the robot is in a posture in a sliding mode, the lower leg of the rear leg of the robot is parallel to the ground, the first follow-up wheel and the second follow-up wheel on the lower leg of the rear leg are in contact with the ground, and the projection of the gravity center of the robot in the vertical direction is located between the first follow-up wheel and the second follow-up wheel.

Further, the process that the robot is switched from the leg mode to the sliding mode on the flat ground and the sliding gait on the flat ground, and the reverse switching process executes the reverse steps; a process of switching to a sliding mode when the robot is in a leg mode on a flat ground, wherein when the robot is in the leg mode, two legs are in a front position, two legs are in a back position, the pitch hip joints of the two legs which are in the front position are driven to rotate around a direction 12, the pitch hip joints of the two legs which are in the back position are driven to rotate around the direction 13 until four legs of the robot are in the same posture, the projection of the gravity center G of the robot in the vertical direction is positioned in a support area formed by the foot ends of the four legs, the pitch hip joints of the four legs are driven to rotate around the direction 12, meanwhile, the knee joints of the four legs are driven to rotate around the direction 17, the distance between the front body and the rear body and the ground is reduced, the knee joints of the four legs are driven to rotate around the direction 17 continuously until the lower legs of the four legs are parallel to the ground, the first follower wheels and the second follower wheels on the lower legs are in contact with the ground, the pitch hip joints of the four legs are driven to rotate around the direction 13, and the knee joints are driven to rotate around the direction 16 until the robot is in the sliding mode; during a sliding gait of the robot in a sliding mode on a flat ground, the rolling hip joint of the rear leg, the pitching hip joint of the rear leg, the knee joint of the rear leg, the waist joint and the rolling hip joint of the front leg of the robot are kept still, the front leg of the robot continuously performs backward sliding and forward swinging motions, the pitching hip joint is driven to rotate in the direction 12 during backward sliding, the knee joint is driven to rotate in the direction 17 and then in the direction 16, meanwhile, the foot end is kept in contact with the ground, the first following wheel and the second following wheel on the rear leg are kept in contact with the ground, the moving speed of the foot end during backward sliding of the front leg is higher than the current moving speed of the robot, the robot accelerates forward sliding through the first following wheel and the second following wheel along with backward sliding of the front leg, the pitching hip joint is driven to rotate in the direction 12 and then in the direction 13 during forward swinging, the rolling direction 17 and then in the direction 16, and the foot end is driven to swing forward without being in contact with the ground.

Further, the process that the robot is switched from the leg mode to the sliding mode on the slope and the sliding gait on the slope, and the reverse switching process executes the reverse steps; a process of switching the robot to a sliding mode when the robot is in a leg mode on a slope, wherein when the robot is in the leg mode, two legs are in a front position, two legs are in a back position, the pitch hip joint of the front two legs is driven to rotate in a direction 12, the pitch hip joint of the back two legs is driven to rotate in a direction 13 until four legs of the robot are in the same posture, and a projection of a gravity center G of the robot in a vertical direction is positioned in a support area formed by foot ends of the four legs, the pitch hip joints of the four legs are driven to rotate in the direction 12, the knee joints of the four legs are driven to rotate in the direction 17, a distance between the front body and the rear body and the ground is reduced, the knee joints of the four legs are driven to rotate continuously in the direction 17 until the lower legs of the four legs are parallel to the ground, the first follower wheels and the second follower wheels on the lower legs are in contact with the ground, the pitch hip joints of the four legs are driven to rotate in the direction 13, the hip joints 15 are driven to rotate in the direction 16, and the robot is in the sliding mode; when the robot is in a sliding gait on a slope in a sliding mode, the rolling hip joint of the rear leg, the pitching hip joint of the rear leg, the knee joint of the rear leg, the waist joint and the rolling hip joint of the front leg are kept still, the front leg continuously performs backward sliding and forward swinging actions, the pitching hip joint is driven to rotate around the direction 12 in the backward sliding process, the knee joint is driven to rotate around the direction 17, meanwhile, the foot end is kept in contact with the ground, the first follow-up wheel and the second follow-up wheel on the rear leg are kept in contact with the ground, the moving speed of the foot end in the backward sliding process of the front leg is higher than the current moving speed of the robot, the robot accelerates forward sliding through the first follow-up wheel and the second follow-up wheel along with the backward sliding of the front leg, the pitching hip joint is driven to rotate around the direction 12 and around the direction 13 firstly in the backward sliding process, the turning around direction 17 is driven to rotate around the direction 16, and the foot end is enabled to swing forwards without being in contact with the ground.

Further, the robot is switched from a sliding mode to a wheel mode on a slope, the opposite switching process executes opposite steps, when the robot is in the sliding mode, the rear legs support the front body and the rear body, the front legs reciprocate back and forth to drive the front legs and the pitching hip joints to rotate around the direction 13 and drive the knee joints to rotate around the

direction

16 or 17, so that the knee joints of the front legs and the rear legs have the same angle, the shanks of the front legs are parallel to the front body and the rear body, the pitching hip joints of the rear legs are driven to rotate around the direction 13 and the shanks of the rear legs are parallel to the front body and the rear body, and at the same time, the first follow-up wheels and the second follow-up wheels of the four legs are simultaneously kept in contact with the ground, the pitching hip joints of the four legs are driven to rotate around the direction 12, and the knee joints of the four legs are driven to rotate around the direction 17 until the robot is in the wheel mode.

Further, the robot turns during the sliding gait, when turning to the right, the roll hip joint of the rear leg rotates a certain angle around the direction 8, during the process, the pitch hip joint and the knee joint of the rear leg are adjusted, the first follower wheel and the second follower wheel of the rear leg are kept in contact with the ground, the waist joint rotates to enable the front body to rotate around the direction 5 relative to the rear body, so as to adjust the center position of the center of gravity of the robot to the center position of the support area formed by the first follower wheel and the second follower wheel of the rear leg, the left front leg reciprocates with a larger amplitude relative to the right front leg, and during the backward swing, the contact between the foot end and the first follower wheel and the second follower wheel of the rear leg and the ground is kept; when the robot is turned to the left, the roll hip joint of the rear leg rotates for a certain angle around the direction 9, in the process, the pitch hip joint and the knee joint of the rear leg are adjusted, the first follow-up wheel and the second follow-up wheel of the rear leg are kept in contact with the ground, the waist joint rotates to enable the front body to rotate around the direction 4 relative to the rear body, the gravity center position of the robot is adjusted towards the center position of a supporting area formed by the first follow-up wheel and the second follow-up wheel of the rear leg, the right front leg reciprocates in a larger amplitude relative to the left front leg, and the foot end and the first follow-up wheel and the second follow-up wheel of the rear leg are kept in contact with the ground during backward swinging.

Further, the robot is steered in a wheeled motion, and when the robot is steered to the right, the waist joint rotates to rotate the front body relative to the rear body in the direction 5, and when the robot is steered to the left, the waist joint rotates to rotate the front body relative to the rear body in the direction 4.

Further, when the robot is stopped in a sliding mode on a slope, the front leg is driven to rotate around the pitch hip joint in the direction 12, the knee joint is driven to rotate around the direction 17, the foot end is separated from the ground and moves backwards, the foot end is moved to the rear end of the robot, the front leg is driven to rotate around the pitch hip joint in the direction 13, the knee joint is driven to rotate around the direction 16, the foot end is made to contact with the ground, and therefore the robot is stopped by using friction between the foot end and the ground.

Further, the robot is braked and stopped when in wheeled motion on a slope, the pitching hip joints of the four legs are driven to rotate around the direction 12, the foot ends are in contact with the ground, and therefore friction between the foot ends and the ground is utilized for braking.

The invention has the beneficial effects that:

the invention can realize the sliding gait of the robot under the condition of not influencing the legged motion of the robot by introducing the follow-up wheels into the four-footed robot, and improve the motion efficiency of the robot in the process of moving downwards on a flat ground, particularly a slope.

Drawings

In order to more clearly illustrate the embodiments or prior art solutions of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a perspective view of a leg mode of a gliding, four-legged robot of the present invention;

FIG. 2 is a front view of a leg mode of the taxiable four-footed robot of the present invention;

FIG. 3 is a right side view of the leg mode of the gliding four-legged robot of the present invention;

FIG. 4 is a top view of the leg model of the gliding quadruped robot of the present invention;

FIG. 5 is a perspective view of a planing mode of the taxiable quadruped robot of the present invention;

FIG. 6 is a schematic diagram of the present invention's gliding quadruped robot switching from a leg mode to a gliding mode on level ground;

FIG. 7 is a schematic illustration of a gliding quadruped robot of the present invention in a sliding gait on a level ground;

FIG. 8 is a schematic view of the present invention showing a planing four-legged gliding robot being switched from a legged mode to a planing mode on a slope;

FIG. 9 is a schematic illustration of the sliding gait of the taxiable quadruped robot of the present invention on a slope;

FIG. 10 is a schematic view of the present invention of a taxiable quadruped robot switching from a taxi mode to a wheel mode on a slope;

FIG. 11 is a perspective view of the sliding gait of the taxiable quadruped robot of the present invention turning to the right;

FIG. 12 is a schematic elevational view of the sliding gait of the taxiable quadruped robot of the present invention turning to the right;

FIG. 13 is a schematic right-view illustration of the sliding gait of the taxiable quadruped robot of the present invention turning to the right;

FIG. 14 is a schematic top view of the gliding gait of the gliding quadruped robot of the present invention turning to the right;

FIG. 15 is a schematic view of the wheeled right steering of the taxiable quadruped robot of the present invention;

FIG. 16 is a schematic illustration of a method of braking the gliding quadruped robot of the present invention while gliding on a slope;

fig. 17 is a schematic view of a braking method of the slidable quadruped robot in wheeled motion on a slope according to the present invention.

Detailed Description

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 only a part of the embodiments of the present invention, 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 invention.

In the description of the present invention, it is to be understood that the terms "opening," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like are used in an orientation or positional relationship merely to facilitate description of the invention and to simplify the description, and are not intended to indicate or imply that the referenced components or elements must be in a particular orientation, constructed and operative in a particular orientation, and are not to be construed as limiting the invention.

The invention provides an embodiment.

As shown in fig. 1 to 4, fig. 1 is a perspective view of a leg mode of a scooter-capable four-footed robot of the present invention, fig. 2 is a front view of the leg mode of the scooter-capable four-footed robot of the present invention, fig. 3 is a right side view of the leg mode of the scooter-capable four-footed robot of the present invention, and fig. 4 is a plan view of the leg mode of the scooter-capable four-footed robot of the present invention. A four-legged robot capable of sliding comprises a front body 1, a rear body 2 and four legs distributed on two sides of the front body 1 and the rear body 2. The front body 1 and the rear body 2 are rotatably connected by a waist joint 3, and the front body 1 is rotatable in

yaw directions

4 and 5 with respect to the rear body 2. The four legs adopt the same mechanism, a single leg comprises a pelvis 6, a thigh 10, a lower leg 14, a first follower wheel 18, a second follower wheel 19 and a foot end 20, the upper end of the pelvis 6 is arranged on the front body 1 or the rear body 2 and can rotate in the

rolling directions

8 and 9 under the driving of a power machine to form a rolling hip joint 7, the upper end of the upper leg 10 is arranged at the lower end of the pelvis 6 and can rotate in the

pitching directions

12 and 13 under the driving of the power machine to form a pitching hip joint 11, the upper end of the lower leg 14 is arranged at the lower end of the thigh 10 and can rotate in the

pitching directions

16 and 17 under the driving of the power machine to form a knee joint 15, the first follower wheel 18 is arranged at the upper end of the lower leg 14, the second follower wheel 19 is arranged at the lower end of the lower leg 14, and the foot end 20 is fixedly arranged at the tail end of the lower leg 14. The follow-up wheels are introduced into the four-footed robot, so that the sliding gait of the robot can be realized under the condition of not influencing the legged motion of the robot, and the motion efficiency of the robot in the downward motion of a flat ground, particularly a slope, is improved.

As shown in fig. 5, fig. 5 is a perspective view of a sliding mode of the scooter quadruped robot of the present invention. In the sliding mode, the lower leg 14 of the rear leg of the robot is parallel to the ground, the first following wheel 18 and the second following wheel 19 on the lower leg 14 are in contact with the ground, the projection of the gravity center of the robot in the vertical direction falls between the first following wheel 18 and the second following wheel 19, the rear leg of the robot is used for supporting the robot, and a motion mechanism, namely the first following wheel 18 and the second following wheel 19, is provided, and the front leg of the robot is used for pushing the robot to accelerate forwards.

Fig. 6 is a schematic view showing that the four-footed robot capable of sliding according to the present invention is switched from a leg mode to a sliding mode on a flat ground, as shown in fig. 6. When the robot is in the leg mode, two legs are in the front position, two legs are in the rear position, as shown in fig. 6 (a), the hip joints 11 of the front two legs are driven to rotate around the direction 12, the hip joints 11 of the rear two legs are driven to rotate around the direction 13 until the four legs of the robot are in the same posture, and the projection of the gravity center G of the robot in the vertical direction is located in the support area formed by the foot ends 20 of the four legs, as shown in fig. 6 (B), the hip joints 11 of the four legs are driven to rotate around the direction 12, and the knee joints 15 of the four legs are driven to rotate around the direction 17, reducing the distance between the front body 1 and the rear body 2 and the ground, during which the front body 1 and the rear body 2 are parallel to the ground, and the projection of the gravity center G of the robot in the vertical direction is located in the support area formed by the foot ends 20 of the four legs, as shown in fig. 6 (C), the four legs 15 are driven to continue to rotate around the direction 17 until the

lower legs

14 and 14 of the ground contact with the first and the lower leg wheels 14, as shown in the lower leg sliding mode, as shown in fig. 6 (D), and the follower wheel 6, as shown in fig. 6, the following wheel 6, the rotation is shown in the following figure 6, the view, the following figure 6, the projection of the rotation.

As shown in fig. 7, fig. 7 is a schematic view of the gait of the taxiable quadruped robot of the present invention sliding on a flat ground. The robot rear leg supports the front body 1 and the rear body 2, and the rear leg roll hip joint 7, the rear leg pitch hip joint 11, the rear leg knee joint 15, the waist joint 3 and the front leg roll hip joint 7 are kept still, and the front leg is constantly performing the motions of backward stroke (as in fig. 7 (a) - (C)) and forward swing (as in fig. 7 (D) - (F)). In the backward rowing process, the pitching hip joint 11 is driven to rotate around the direction 12, the knee joint 15 is driven to rotate around the direction 17 and around the direction 16 firstly, meanwhile, the foot end 20 is kept in contact with the ground, the first follow-up wheel 18 and the second follow-up wheel 19 on the rear leg are kept in contact with the ground, the moving speed of the foot end 20 in the backward rowing process of the front leg is higher than the current moving speed of the robot, and the robot slides forwards in an accelerating mode through the first follow-up wheel 18 and the second follow-up wheel 19 along with the backward rowing of the front leg. During forward swing, the pitch hip joint 11 is driven to rotate around the direction 12 and then around the direction 13, the knee joint 15 is driven to rotate around the direction 17 and then around the direction 16, and the foot end 20 swings forward without contacting with the ground.

As shown in fig. 8, fig. 8 is a schematic view showing that the slidable four-legged robot of the present invention is switched from the leg mode to the sliding mode on a slope. When the robot is in the leg mode, two legs are in the front position, two legs are in the back position, as shown in fig. 8 (a), the hip joints 11 of the front two legs are driven to rotate around the direction 12, the hip joints 11 of the back two legs are driven to rotate around the direction 13 until the four legs of the robot are in the same posture, and the projection of the gravity center G of the robot in the vertical direction is located in the support area formed by the foot ends 20 of the four legs, as shown in fig. 8 (B), the hip joints 11 of the four legs are driven to rotate around the direction 12, and the knee joints 15 of the four legs are driven to rotate around the direction 17, so that the distance between the front body 1 and the back body 2 and the ground is reduced, during which the front body 1 and the back body 2 are parallel to the ground, and the projection of the gravity center G of the robot in the vertical direction is located in the support area formed by the foot ends 20 of the four legs until the shank 14 of the four legs are parallel to the ground, the first follower wheels 18 and the second follower wheels 19 on the leg 14 are in contact with the ground, as shown in the leg mode, as shown in fig. 8 (C), the leg joints 15, the hip joints are driven to rotate around the hip joints 13, as shown in the hip joints, as shown in the hip joint direction 13, and as shown in the hip joint driving direction 13, as shown in fig. 8 (D).

As shown in fig. 9, fig. 9 is a schematic view of the sliding gait of the slidable quadruped robot of the present invention on a slope. The robot rear leg supports the front body 1 and the rear body 2, and the rear leg roll hip joint 7, the rear leg pitch hip joint 11, the rear leg knee joint 15, the waist joint 3, and the front leg roll hip joint 7 are kept stationary, and the front leg is constantly performing the motions of rearward rowing (fig. 7 (a) - (B)) and forward swinging (fig. 7 (B) - (D)). In the backward rowing process, the pitching hip joint 11 is driven to rotate around the direction 12, the knee joint 15 is driven to rotate around the direction 17, meanwhile, the foot end 20 is kept in contact with the ground, the first follow-up wheel 18 and the second follow-up wheel 19 on the rear leg are kept in contact with the ground, the moving speed of the foot end 20 in the backward rowing process of the front leg is higher than the current moving speed of the robot, and the robot slides forwards in an accelerating mode through the first follow-up wheel 18 and the second follow-up wheel 19 along with the backward rowing of the front leg. In the forward swing process, the pitching hip joint 11 is driven to rotate around the direction 12 and then around the direction 13, the knee joint 15 is driven to rotate around the direction 17 and then around the direction 16, and the foot end 20 swings forward without contacting with the ground.

As shown in fig. 10, fig. 10 is a schematic view showing the planing mode of the planing quadruped robot of the present invention being switched to the wheel mode on a slope. When the robot is in the gliding mode, the rear legs support the front body 1 and the rear body 2, the front legs reciprocate back and forth, as shown in fig. 10 (a), the front leg hip joint 11 is driven to rotate in the direction 13, the knee joint 15 is driven to rotate in the

direction

16 or 17, the front leg knee joint 15 and the rear leg knee joint 15 are at the same angle, and the lower legs 14 of the front legs are parallel to the front body 1 and the rear body 2, as shown in fig. 10 (B), the hip joint 11 of the rear legs is driven to rotate in the direction 13, the lower legs 14 of the rear legs are parallel to the front body 1 and the rear body 2, as shown in fig. 10 (C), and at the same time, the first follower wheels 18 and the second follower wheels 19 of the four legs are simultaneously in contact with the ground, the hip joints 11 of the four legs are driven to rotate in the direction 12, and the knee joints 15 of the four legs are driven to rotate in the direction 17, so that the center of gravity of the robot is moved forward while the center of the robot is lowered, as shown in fig. 10 (D), thereby reducing the wind resistance and reducing the risk of the robot that the robot may overturn.

As shown in fig. 11-14, fig. 11 is a perspective view showing the rightwards turning of the sliding gait of the slidable quadruped robot of the present invention, fig. 12 is a front view showing the rightwards turning of the sliding gait of the slidable quadruped robot of the present invention, fig. 13 is a right view showing the rightwards turning of the sliding gait of the slidable quadruped robot of the present invention, and fig. 14 is a top view showing the rightwards turning of the sliding gait of the slidable quadruped robot of the present invention. The roll hip joint 7 of the rear leg rotates a certain angle around the direction 8, the angle is related to the required steering angular speed, the roll hip joint 7 rotates a larger angle around the direction 8 when the required steering angular speed is higher, but the rotation angle cannot be too large so as to avoid the unstable gravity center of the robot, and the pitching hip joint 11 and the knee joint 15 of the rear leg are adjusted in the process, so that the first follow-up wheel 18 and the second follow-up wheel 19 of the rear leg are kept in contact with the ground. The waist joint 3 rotates to rotate the front body 1 relative to the rear body 2 about the direction 5 to adjust the position of the center of gravity of the robot toward the center position of the support area constituted by the first and

second follower wheels

18 and 19 of the rear leg. The left front leg reciprocates at a greater amplitude relative to the right front leg and maintains the foot end 20 and the rear leg first and

second follower wheels

18, 19 in contact with the ground during rearward oscillation. When turning to the left, the rear leg joints and the waist joint 3 are oppositely adjusted, and the left front leg reciprocates with a small amplitude relative to the right front leg.

As shown in fig. 15, fig. 15 is a schematic view of the wheeled right steering of the taxiable quadruped robot of the present invention. The rotation of the waist joint 3 causes the front body 1 to rotate about the direction 5 relative to the rear body 2. When steering to the left, the waist joint 3 rotates to rotate the front body 1 in the opposite direction with respect to the rear body 2.

As shown in fig. 16, fig. 16 is a schematic view of a brake method of the present invention when the taxiable quadruped robot is taxiing on a slope. The front leg hip joint 11 is driven to rotate around the direction 12, the knee joint 15 is driven to rotate around the direction 17, as shown in fig. 16 (a), the foot end 20 is driven to move backwards away from the ground to the position as shown in fig. 16 (B), the front leg hip joint 11 is driven to rotate around the direction 13, the knee joint 15 is driven to rotate around the direction 16, the foot end 20 is driven to contact with the ground as shown in fig. 16 (C), and therefore the foot end 20 is moved to the rear end of the robot by using the friction brake of the foot end 20 and the ground, and the robot can be prevented from overturning due to the fact that the speed is too high.

As shown in fig. 17, fig. 17 is a schematic view of a brake method of the present invention when the scooter type quadruped robot is wheeled on a slope. The four-leg pitch hip joint 11 is driven to rotate around the direction 12, so that the foot end 20 is contacted with the ground, and the brake is stopped by utilizing the friction between the foot end 20 and the ground.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.

Claims

1. A slidable quadruped robot comprises a front body (1), a rear body (2) and four legs distributed on two sides of the front body (1) and the rear body (2), and is characterized in that the front body (1) and the rear body (2) are rotatably connected through waist joints (3), each leg comprises a pelvis (6), a thigh (10), a shank (14), a first follower wheel (18), a second follower wheel (19) and a foot end (20), the upper end of the pelvis (6) is rotatably connected with the front body (1) and the rear body (2), the joint is a rolling hip joint (7), the upper end of the shank (10) is rotatably connected with the lower end of the pelvis (6), the joint is a pitching hip joint (11), the upper end of the shank (14) is rotatably connected with the lower end of the thigh (10), the joint is a knee joint (15), the side of the shank (14) is rotatably provided with the first follower wheel (18), the side of the lower end of the shank (14) is provided with the second follower wheel (19), and the tail end of the lower end of the shank (14) is provided with the follower wheel (20).

2. A taxiable quadruped robot according to claim 1, wherein the robot is in an attitude in a taxiing mode with the lower leg (14) of the rear leg of the robot parallel to the ground, the first and second follower wheels (18, 19) on the lower leg (14) of the rear leg in contact with the ground, and a projection of the center of gravity of the robot in a vertical direction falls between the first and second follower wheels (18, 19).

3. A taxiable quadruped robot as claimed in claim 1 wherein the robot switches from leg mode to taxi mode on level ground and a taxi gait on level ground, the reverse switching process performing the reverse steps;

a process of switching to a gliding mode when the robot is in a leg mode on a flat ground, wherein when the robot is in the leg mode, two legs are in a front position, two legs are in a rear position, the pitch hip joint (11) of the front two legs is driven to rotate around a direction (12), the pitch hip joint (11) of the rear two legs is driven to rotate around the direction (13) until four legs of the robot are in the same posture, and a projection of a gravity center G of the robot in a vertical direction is positioned in a support area formed by foot ends (20) of the four legs, the pitch hip joint (11) of the four legs is driven to rotate around the direction (12), the knee joints (15) of the four legs are simultaneously driven to rotate around the direction (17), the distance between the front body (1) and the rear body (2) and the ground is reduced, the knee joints (15) of the four legs are driven to continue to rotate around the direction (17) until the lower legs (14) of the four legs are parallel to the ground, the first follower wheels (18) and the second follower wheels (19) on the lower legs (14) contact with the ground, and the pitch hip joints (16) are driven to rotate around the robot around the direction (13), and the pitch hip joints are driven to rotate around the robot is driven to rotate around the hip joints (13);

during a sliding gait of the robot in a sliding mode on a flat ground, the rolling hip joint (7) of the rear leg, the pitching hip joint (11) of the rear leg, the knee joint (15) of the rear leg, the waist joint (3) and the rolling hip joint (7) of the front leg are kept still, the front leg is continuously subjected to backward sliding and forward swinging motions, the pitching hip joint (11) is driven to rotate around the direction 12 during backward sliding, the knee joint (15) is driven to rotate around the direction 17 and then around the direction 16, the foot end (20) is kept in contact with the ground, the first follow-up wheel (18) and the second follow-up wheel (19) on the rear leg are kept in contact with the ground, the moving speed of the foot end (20) of the front leg during backward sliding is higher than the current moving speed of the robot, the robot accelerates the robot through the first follow-up wheel (18) and the second follow-up wheel (19), and the robot drives the rolling hip joint (11) to rotate around the direction 12 and then around the direction (13) of the ground without rotating around the hip joint (13) and then around the direction (17) during forward sliding of the front leg and then around the direction (17) and then around the second follow-up the direction.

4. A slectable quadruped robot as claimed in claim 1, wherein said robot is configured for a leg mode to glide mode on an incline and a glide gait on an incline, and wherein said reverse switching process performs the reverse steps;

a process of switching to a gliding mode when the robot is in a leg mode on a slope, wherein when the robot is in the leg mode, two legs are in a front position, two legs are in a rear position, the pitch hip joints (11) of the two front legs are driven to rotate around a direction (12), the pitch hip joints (11) of the two rear legs are driven to rotate around the direction (13) until four legs of the robot are in the same posture, and a projection of a gravity center G of the robot in a vertical direction is positioned in a support area formed by foot ends (20) of the four legs, the pitch hip joints (11) of the four legs are driven to rotate around the direction (12), the knee joints (15) of the four legs are simultaneously driven to rotate around the direction (17), a distance between the front body (1) and the rear body (2) and the ground is reduced, the knee joints (15) of the four legs are driven to rotate around the direction (17) continuously until the lower legs (14) of the four legs are parallel to the ground, the first follower wheels (18) and the second follower wheels (19) on the lower legs (14) are in contact with the ground, and the pitch hip joints (16) are driven to rotate around the hip joints (11), and the hip joints are driven to rotate around the gliding mode;

the robot is in a sliding gait when in a sliding mode on a slope, the rolling hip joint (7) of the rear leg, the pitching hip joint (11) of the rear leg, the knee joint (15) of the rear leg, the waist joint (3) and the rolling hip joint (7) of the front leg are kept still, the front leg continuously performs backward sliding and forward swinging motions, the pitching hip joint (11) is driven to rotate around the direction 12 during backward sliding, the knee joint (15) is driven to rotate around the direction 17, meanwhile, the foot end (20) is kept in contact with the ground, the first follower wheel (18) and the second follower wheel (19) on the rear leg are kept in contact with the ground, the moving speed of the foot end (20) during backward sliding of the front leg is higher than the current moving speed of the robot, the robot accelerates to slide forwards along with the backward sliding of the front leg, the robot drives the pitching joint (11) to rotate around the direction (12) around the knee joint (13) during forward swinging, and drives the foot end (18) to rotate around the direction (16) under the backward swinging condition that the knee joint (15) does not rotate around the direction and the ground.

5. A slidable quadruped robot according to claim 1, characterized in that the robot is switched from a gliding mode to a wheel mode on a slope, the reverse switching process performs the reverse steps, when the robot is in the gliding mode, the rear leg supports the front body (1) and the rear body (2), the front leg reciprocates back and forth, the hip joint pitch (11) of the front leg is driven to rotate in the direction 13, the knee joint pitch (15) is driven to rotate in the direction 16 or 17, the knee joint pitch (15) of the front leg and the knee joint pitch (15) of the rear leg are made to have the same angle, and the lower leg (14) of the front leg is parallel to the front body (1) and the rear body (2), the hip joint pitch (11) of the rear leg is driven to rotate in the direction 13, the lower leg (14) of the rear leg is made to be parallel to the front body (1) and the rear body (2), and the first follower wheel (18) and the second follower wheel (19) of the four legs are simultaneously kept in contact with the ground, the hip joint pitch (11) of the four legs is driven to rotate in the direction, the hip joint pitch (15) of the robot is driven to rotate in the hip joint pitch mode, and the robot is driven to rotate in the hip joint pitch direction, the hip joint pitch (17) of the four legs.

6. A scooter quadruped robot as claimed in claim 1 wherein steering of the robot in a gliding gait, with right steering, the roll hip (7) of the rear leg rotating through an angle in direction 8, during which the pitch hip (11) and the knee joint (15) of the rear leg are adjusted, keeping the first follower wheel (18) and the second follower wheel (19) of the rear leg in contact with the ground, the waist joint (3) rotating, rotating the front body (1) relative to the rear body (2) in direction 5, adjusting the robot centre of gravity position towards the centre position of the support area formed by the first follower wheel (18) and the second follower wheel (19) of the rear leg, the front left leg reciprocating with a greater amplitude relative to the front right leg, and keeping the foot end (20) and the first follower wheel (18) and the second follower wheel (19) of the rear leg in contact with the ground during backward swinging;

when turning to the left, the roll hip joint (7) of the rear leg rotates a certain angle around the direction 9, in the process, the pitch hip joint (11) and the knee joint (15) of the rear leg are adjusted, the first follow-up wheel (18) and the second follow-up wheel (19) of the rear leg are kept in contact with the ground, the waist joint (3) rotates to enable the front machine body (1) to rotate around the direction 4 relative to the rear machine body (2) so as to adjust the gravity center position of the robot to the center position of a support area formed by the first follow-up wheel (18) and the second follow-up wheel (19) of the rear leg, the right front leg reciprocates in a larger amplitude relative to the left front leg, and the foot end (20) and the first follow-up wheel (18) and the second follow-up wheel (19) of the rear leg are kept in contact with the ground during backward swinging.

7. A taxiable quadruped robot according to claim 1, wherein the robot is steered in a wheeled motion, wherein when steered to the right, the waist joint (3) is rotated to rotate the front body (1) relative to the rear body (2) in direction 5, and when steered to the left, the waist joint (3) is rotated to rotate the front body (1) relative to the rear body (2) in direction 4.

8. A scooter quadruped robot as claimed in claim 1 wherein braking when the robot is in a glide mode on a slope actuates the front leg pitch hip joint (11) to rotate in direction 12 and the knee joint (15) to rotate in direction 17, causing the foot end (20) to move backwards out of the ground, moving the foot end (20) to the rear end of the robot, actuating the front leg pitch hip joint (11) to rotate in direction 13, actuating the knee joint (15) to rotate in direction 16, causing the foot end (20) to contact the ground, thereby braking by friction between the foot end (20) and the ground.

9. A scooter quadruped robot according to claim 1 wherein braking when the robot is in wheeled motion on a slope drives the pitch hip joints (11) of the four legs to rotate in direction 12 bringing the foot end (20) into contact with the ground, thereby braking by friction between the foot end (20) and the ground.