JP7072308B2 - Reconfigurable last-shaped robot with 2-leg / 4-wheel / 4-leg motion mode - Google Patents

Reconfigurable last-shaped robot with 2-leg / 4-wheel / 4-leg motion mode Download PDF

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JP7072308B2
JP7072308B2 JP2021546447A JP2021546447A JP7072308B2 JP 7072308 B2 JP7072308 B2 JP 7072308B2 JP 2021546447 A JP2021546447 A JP 2021546447A JP 2021546447 A JP2021546447 A JP 2021546447A JP 7072308 B2 JP7072308 B2 JP 7072308B2
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sole
thigh
foot
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令雨 孔
冠宇 黄
▲紅▼建 姜
建▲東▼ 蔡
安桓 ▲謝▼
丹 ▲張▼
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之江実験室
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—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 having wheels and mechanical legs

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Description

本発明は足型ロボット分野に関し、特に２足／４輪／４足運動モードを有する再構成可能な足型ロボットに関する。 The present invention relates to the field of foot robots, and more particularly to reconfigurable foot robots having a two-legged / four-wheeled / four-legged motion mode.

２足型、４足型及び輪型ロボットのそれぞれは顕著な利点／欠点を有する。例えば、２足ロボットは地形適応性の面で顕著な優位性を有し、複雑な地面を歩いたり、障害物を避けたりする能力を持っているが、運動速度、エネルギー効率の面で劣位性を有する。４足ロボットは２足ロボットより高い運動安定性を有するが、運動能力の面で同様に劣位性を有する。輪型ロボットは最も高い運動速度を有するが、複雑な地形環境に適応できない。 Each of the two-legged, four-legged and ring-shaped robots has significant advantages / disadvantages. For example, biped robots have a significant advantage in terrain adaptability and have the ability to walk on complex ground and avoid obstacles, but are inferior in speed and energy efficiency. Has. The quadruped robot has higher kinetic stability than the biped robot, but is also inferior in terms of kinetic ability. Wheel-shaped robots have the highest velocities, but cannot adapt to complex terrain environments.

従来技術の欠点に対して、本発明は従来の足型、輪型ロボットの利点を参照して、２足、４輪及び４足モードを動的に切り替えることができ、適応性が高い２足／４足／４輪運動モードを有する再構成可能な足型ロボットを提供することである。 In contrast to the shortcomings of the prior art, the present invention can dynamically switch between two-legged, four-wheeled and four-legged modes with reference to the advantages of conventional foot-shaped and ring-shaped robots, and is highly adaptable. It is to provide a reconfigurable foot robot having a / 4 foot / 4 wheel motion mode.

本発明の目的は以下の技術案により実現される。 The object of the present invention is realized by the following technical proposals.

２足／４輪／４足運動モードを有する再構成可能な足型ロボットであって、前記足型ロボットは左右対称構造であり、胴体部材、左股部、右股部、左腿及び右腿を備え、前記胴体部材は胴体部材の両側に対称配置される左股部及び右股部に回転可能に接続され、前記左腿及び右腿はそれぞれ左股部及び右股部に回転可能に接続され、
前記左股部は剛性接続される股部回転部材及び股部腿部接続部材を備え、前記股部回転部材は前記左腿を胴体部材に対して空間的に回転するように駆動するために用いられ、
前記左腿は上腿部材、下腿部材、主動輪接続部材、移動回転部材、主動輪、足裏部材及び従動輪を備え、
前記股部腿部接続部材の両端はそれぞれ回転関節によって上腿部材の一端及び主動輪接続部材の一端に接続され、上腿部材の他端は回転関節によって下腿部材の一端に接続され、主動輪接続部材は移動回転部材によって下腿部材に接続され、主動輪は回転関節によって主動輪接続部材の他端に取り付けられ、下腿部材の他端は回転関節によって足裏部材の中央部に接続され、従動輪は回転関節によって足裏部材の一端に接続され、股部腿部接続部材、上腿部材、下腿部材、主動輪接続部材及び移動回転部材は平面５節機構を構成し、
前記左股部及び右股部の構造は同じであり、左腿及び右腿の構造は同じであり、
前記足裏部材及び平面５節機構を調整することにより、足裏部材のみが地面に接触する場合、前記足型ロボットは２足運動モードであり、主動輪と被動輪とが同時に地面に接触する場合、前記足型ロボットは４輪運動モードであり、主動輪と足裏部材とが同時に地面に接触し、且つ主動輪がロック状態にある場合、前記足型ロボットは４足運動モードである。 A reconfigurable foot-shaped robot having two-legged / four-wheeled / four-legged motion modes, the foot-shaped robot has a symmetrical structure, and has a torso member, a left crotch, a right crotch, a left thigh, and a right thigh. The torso member is rotatably connected to the left and right crotch portions symmetrically arranged on both sides of the torso member, and the left and right thighs are rotatably connected to the left and right crotch portions, respectively. Being done
The left crotch portion includes a crotch rotation member and a crotch thigh connection member to be rigidly connected, and the crotch rotation member is used to drive the left thigh so as to rotate spatially with respect to the body member. Be,
The left thigh includes an upper thigh member, a lower leg member, a main driving wheel connecting member, a moving rotating member, a main driving wheel, a sole member, and a driven wheel.
Both ends of the crotch thigh connecting member are connected to one end of the upper leg member and one end of the main driving wheel connecting member by a rotary joint, respectively, and the other end of the upper leg member is connected to one end of the lower leg member by a rotary joint. The main driving wheel connecting member is connected to the lower leg member by a moving rotating member, the main driving wheel is attached to the other end of the main driving wheel connecting member by a rotating joint, and the other end of the lower leg member is connected to the central portion of the sole member by a rotating joint. The driven wheel is connected to one end of the sole member by a rotary joint, and the crotch thigh connecting member, the upper leg member, the lower leg member, the main driving wheel connecting member and the moving rotating member constitute a flat five-node mechanism.
The structures of the left thigh and the right thigh are the same, and the structures of the left thigh and the right thigh are the same.
When only the sole member comes into contact with the ground by adjusting the sole member and the flat five-node mechanism, the foot type robot is in the two-legged motion mode, and the main driving wheel and the driven wheel come into contact with the ground at the same time. In this case, the foot type robot is in the four-wheel movement mode, and when the main driving wheel and the sole member are in contact with the ground at the same time and the main driving wheel is in the locked state, the foot type robot is in the four-wheel movement mode.

更に、前記股部回転部材は股部偏向方向部材及び股部横転方向部材を備え、前記胴体部材は回転関節によって股部偏向方向部材に接続され、股部偏向方向部材は回転関節によって股部横転方向部材に接続され、股部横転方向部材は股部腿部接続部材に剛性接続される。 Further, the crotch rotation member includes a crotch deflection direction member and a crotch rollover direction member, the body member is connected to the crotch deflection direction member by a rotation joint, and the crotch deflection direction member is crotch rollover by a rotation joint. It is connected to the directional member, and the crotch rollover direction member is rigidly connected to the crotch thigh connecting member.

更に、前記足型ロボットは更に第１足裏調整リンク及び第２足裏調整リンクを備え、第１足裏調整リンクの一端は回転関節によって足裏部材の他端に接続され、第１足裏調整リンクの他端は回転関節によって第２足裏調整リンクの一端に接続され、第２足裏調整リンクの他端は回転関節によって下腿部材に接続され、下腿部材、第２足裏調整リンク、第１足裏調整リンク及び足裏部材は平面４節機構を構成して、足裏部材及び従動輪の位置調整を実現する。 Further, the foot type robot further includes a first sole adjustment link and a second sole adjustment link, and one end of the first sole adjustment link is connected to the other end of the sole member by a rotary joint, and the first foot sole is provided. The other end of the adjustment link is connected to one end of the second sole adjustment link by a rotary joint, and the other end of the second sole adjustment link is connected to the lower leg member by the rotary joint. The first sole adjustment link and the sole member form a flat four-section mechanism to realize position adjustment of the sole member and the driven wheel.

更に、前記移動回転部材は互いに接続される移動関節及び回転関節を備え、前記主動輪接続部材は前記移動関節及び回転関節によって前記下腿部材に対する移動及び回転を実現する。 Further, the moving rotating member includes a moving joint and a rotating joint connected to each other, and the main driving wheel connecting member realizes movement and rotation with respect to the lower leg member by the moving joint and the rotating joint.

本発明の有益な効果は以下のとおりである。 The beneficial effects of the present invention are as follows.

様々なタスク要件及び応用環境に応じて、本発明の再構成可能な足型ロボットは２足、４輪及び４足モードを動的に切り替えて、最適なモードを選択して規定されたタスクを遂行することができる。複雑で険しい道路で、ロボットは２足運動モードに切り替えられ、足裏調整部材の位置を調整することにより足裏部材のみを地面に接触させ、上腿及び下腿部材に取り付けられる駆動装置によって２足走行モードを実現する。地面環境が比較的険しく、ロボットが一定の負荷容量を有する必要がある場合、ロボットは４足モードに切り替えられ、主動輪と足裏を地面に交互に接触させて、主動輪におけるドライブモータをロック状態にして、アーチ型足モードを形成する。地面環境が比較的理想的である場合、ロボットは４輪モードに切り替えられ、主動輪と被動輪とを地面に同時に接触させて、ドライブモータによって主動輪を駆動する。本発明の再構成可能な足型ロボットは環境適応性が高く、動作効率が高い。 The reconfigurable lasting robot of the present invention dynamically switches between two-legged, four-wheeled and four-legged modes according to various task requirements and application environments, and selects the optimum mode to perform the specified task. Can be accomplished. On complex and steep roads, the robot is switched to bipedal motion mode, where only the sole member is brought into contact with the ground by adjusting the position of the sole adjustment member, and the two legs are provided by a drive device attached to the upper and lower leg members. Realize the driving mode. If the ground environment is relatively rugged and the robot needs to have a certain load capacity, the robot is switched to 4-foot mode, with the main wheel and sole of the foot alternately in contact with the ground to lock the drive motor in the main wheel. In the state, it forms an arched foot mode. If the ground environment is relatively ideal, the robot is switched to four-wheel mode, where the main and driven wheels are in contact with the ground at the same time and the drive motor drives the main wheels. The reconfigurable foot robot of the present invention has high environmental adaptability and high operating efficiency.

本発明の再構成可能な足型ロボットの２足運動モードの模式図である。It is a schematic diagram of the bipedal motion mode of the reconfigurable last type robot of this invention. 本発明の再構成可能な足型ロボットの４輪運動モードの模式図である。It is a schematic diagram of the four-wheel movement mode of the reconstructable foot type robot of this invention. 本発明の再構成可能な足型ロボットの４足運動モードの模式図である。It is a schematic diagram of the four-legged motion mode of the reconfigurable last type robot of this invention.

以下、図面を参照しながら好適な実施例によって本発明を詳しく説明する。本発明の目的及び効果は明らかになる。以下、図面を参照しながら実施例によって本発明を更に詳しく説明する。理解されるように、ここで説明される具体的な実施例は本発明を解釈するためのものであって、本発明を制限するためのものではない。 Hereinafter, the present invention will be described in detail with reference to the drawings according to suitable examples. The object and effect of the present invention will be clarified. Hereinafter, the present invention will be described in more detail by way of examples with reference to the drawings. As will be appreciated, the specific examples described herein are for the purpose of interpreting the present invention and not for limiting the present invention.

図１に示すように、本発明の２足／４輪／４足運動モードを有する再構成可能な足型ロボットは左右対称構造であり、胴体部材１、股部及び腿部の３つの部分を備え、左右２つの部分は構造が同じであり、二つの腿は同じ構造形式を有するため、同じ運動形式を有する。以下、その一部を例としてその構造を説明する。 As shown in FIG. 1, the reconfigurable foot robot having the two-leg / four-wheel / four-leg motion mode of the present invention has a symmetrical structure, and has three parts, a body member 1, a crotch part, and a thigh part. The two left and right parts have the same structure, and the two thighs have the same structural form, so that they have the same motion form. Hereinafter, the structure will be described using a part of the example as an example.

左股部は股部偏向方向部材２、股部横転方向部材３及び股部腿部接続部材４を備え、胴体部材１は回転関節によって股部偏向方向部材２に接続され、股部偏向方向部材２は回転関節によって股部横転方向部材３に接続され、股部横転方向部材３は股部腿部接続部材４に剛性接続される。従って、胴体部材１に対して、股部腿部接続部材４は偏向方向及び横転方向の２つの自由度を有する。股部偏向方向部材２及び股部横転方向部材３は胴体部材１に対する股部腿部接続部材４の空間的回転を実現することに用いられ、その設計方式及び接続順序は本実施例に限らず、球状関節、自在関節等の方式でその回転機能を実現してもよい。 The left crotch portion includes a crotch deflection direction member 2, a crotch rollover direction member 3, and a crotch thigh connection member 4. The body member 1 is connected to the crotch deflection direction member 2 by a rotary joint, and the crotch deflection direction member 1 is provided. 2 is connected to the crotch lateral rolling direction member 3 by a rotary joint, and the crotch lateral rolling direction member 3 is rigidly connected to the crotch thigh connecting member 4. Therefore, the crotch thigh connecting member 4 has two degrees of freedom in the deflection direction and the rollover direction with respect to the body member 1. The crotch deflection direction member 2 and the crotch rollover direction member 3 are used to realize spatial rotation of the crotch thigh connection member 4 with respect to the body member 1, and the design method and connection order thereof are not limited to this embodiment. , Spherical joints, universal joints, etc. may be used to realize the rotational function.

左腿は上腿部材５、下腿部材６、主動輪接続部材７、移動関節８、回転関節９、主動輪１０、足裏部材１１、第２足裏調整部材１２、第１足裏調整部材１３及び従動輪１４を備え、股部腿部接続部材４の両端はそれぞれ回転関節によって上腿部材５の一端及び主動輪接続部材７の一端に接続され、上腿部材５の他端は回転関節によって下腿部材６の一端に接続され、主動輪接続部材７は移動関節８及び回転関節９によって下腿部材６に接続され、主動輪１０は回転関節によって主動輪接続部材７の他端に取り付けられ、下腿部材６の他端は回転関節によって足裏部材１１の中央部に接続され、従動輪１４及び第１足裏調整リンク１３の一端はそれぞれ回転関節によって足裏部材１１の両端に接続され、第１足裏調整リンク１３の他端は回転関節によって第２足裏調整リンク１２の一端に接続され、第２足裏調整リンク１２の他端は回転関節によって下腿部材６に接続され、下腿部材６、第２足裏調整リンク１２、第１足裏調整リンク１３及び足裏部材１１は平面４節機構を構成し、足裏部材１１及び従動輪１４の位置調整を実現する。股部腿部接続部材４、上腿部材５、下腿部材６、主動輪接続部材７、移動関節８及び回転関節９は平面５節機構を構成する。 The left thigh has an upper leg member 5, a lower leg member 6, a main driving wheel connecting member 7, a moving joint 8, a rotary joint 9, a main driving wheel 10, a sole member 11, a second sole adjusting member 12, and a first sole adjusting member. 13 and a driven wheel 14 are provided, both ends of the crotch thigh connecting member 4 are connected to one end of the upper leg member 5 and one end of the main driving wheel connecting member 7 by a rotary joint, respectively, and the other end of the upper leg member 5 is connected. The main driving wheel connecting member 7 is connected to the lower leg member 6 by the moving joint 8 and the rotating joint 9, and the main driving wheel 10 is attached to the other end of the main driving wheel connecting member 7 by the rotating joint. The other end of the lower leg member 6 is connected to the central portion of the sole member 11 by a rotary joint, and one end of the driven wheel 14 and the first sole adjustment link 13 is connected to both ends of the sole member 11 by a rotary joint, respectively. The other end of the first sole adjustment link 13 is connected to one end of the second sole adjustment link 12 by a rotary joint, and the other end of the second sole adjustment link 12 is connected to the lower leg member 6 by a rotary joint. The member 6, the second sole adjusting link 12, the first sole adjusting link 13, and the sole member 11 form a flat four-section mechanism, and realize the position adjustment of the sole member 11 and the driven wheel 14. The crotch thigh connecting member 4, the upper leg member 5, the lower leg member 6, the main driving wheel connecting member 7, the moving joint 8 and the rotary joint 9 form a flat five-node mechanism.

特に、本実施例では、移動関節８と回転関節９との距離はゼロであり、それらの間のリンクの長さはゼロと見なされてもよく、従って、特別な平面５節機構と見なされてもよい。本実施例に限らず、移動関節８と回転関節９とが一定長さのバー部材によって接続されて通常の５節機構の形式を形成してもよい。該５節機構は平面内で２つの運動自由度を有し、５つの関節のうちのいずれか２つを駆動することによりその平面２自由度運動を実現することができる。本実施例の５節機構は他の接続形式を用いてもよく、股部腿部接続部材４に対する下腿部材６の平面２自由度を実現できればよい。本実施例の平行四辺形機構は足裏に該平面内の１つの自由度を有させるため、第２足裏調整リンク１２及び第１足裏調整リンク１３のうちのいずれか１つを駆動することにより足裏部材１１の運動を実現することができる。足裏調整部材１２、１３は地面に対する足裏部材１１及び従動輪部材１４の位置関係を実現することに用いられ、その設計方式も本実施例に限らず、具体的な設計方式は地面に対する足裏部材１１及び被動輪部材１４の位置関係を調整できればよい。 In particular, in this embodiment, the distance between the mobile joint 8 and the rotary joint 9 is zero, and the length of the link between them may be considered to be zero, and thus is considered to be a special planar five-node mechanism. You may. Not limited to this embodiment, the mobile joint 8 and the rotary joint 9 may be connected by a bar member having a constant length to form a normal five-node mechanism. The five-node mechanism has two degrees of freedom in the plane, and by driving any two of the five joints, the two-degree-of-freedom motion in the plane can be realized. The five-section mechanism of this embodiment may use another connection type, and it is sufficient that the plane 2 degree of freedom of the lower leg member 6 with respect to the crotch thigh connection member 4 can be realized. The parallelogram mechanism of this embodiment drives one of the second sole adjusting link 12 and the first sole adjusting link 13 in order to give the sole one degree of freedom in the plane. This makes it possible to realize the movement of the sole member 11. The sole adjusting members 12 and 13 are used to realize the positional relationship between the sole member 11 and the driving wheel member 14 with respect to the ground, and the design method thereof is not limited to this embodiment, and the specific design method is the foot with respect to the ground. It suffices if the positional relationship between the back member 11 and the driven wheel member 14 can be adjusted.

本実施例では、各腿は少なくとも空間５自由度を有し、交互運動によって三次元空間内の移動を実現することができる。 In this embodiment, each thigh has at least 5 degrees of freedom in space, and movement in a three-dimensional space can be realized by alternating motion.

以下、本発明の２足ロボットの運動モードを説明する。 Hereinafter, the motion mode of the biped robot of the present invention will be described.

図１に示すように、平面５節機構は主動輪１０を地面から離れる位置まで縮めて、それに接続されたモーターによって主動輪１０をロックし、平面４節機構を駆動することにより足裏部材１１を地面に接近する位置まで調整し従動輪１４が走行過程において地面に接触できないように確保する。５節機構に取り付けられる２つのモータ及び足裏部分のドライブモータを駆動することにより、各腿がその所在する平面内で前後に交互に運動するように制御し、それにより本実施例の２足走行機能を実現する。 As shown in FIG. 1, the flat five-section mechanism contracts the main driving wheel 10 to a position away from the ground, locks the main driving wheel 10 by a motor connected to the main driving wheel 10, and drives the flat four-section mechanism to drive the sole member 11. Is adjusted to a position close to the ground so that the driven wheel 14 does not come into contact with the ground during the traveling process. By driving the two motors attached to the five-section mechanism and the drive motor of the sole of the foot, each thigh is controlled to move back and forth alternately in the plane where it is located, thereby controlling the two legs of this embodiment. Realize the driving function.

図２に示すように、平面５節機構を駆動することにより、主動輪１０を地面に接触する位置まで伸び、平面４節機構を駆動することにより、従動輪１４を地面に接触する位置まで調整して足裏部材１１を地面に接触できない状態にし、この上で、各腿に取り付けられるすべてのドライブモータをロックし、主動輪モータを駆動することにより、本発明の４輪運動モードの平面運動を実現し、２つの主動輪１０の差動運動によって平面上の転向操作を遂行する。 As shown in FIG. 2, by driving the flat surface 5-section mechanism, the main driving wheel 10 is extended to a position where it comes into contact with the ground, and by driving the flat surface 4-node mechanism, the driven wheel 14 is adjusted to a position where it comes into contact with the ground. By making the sole member 11 inaccessible to the ground, locking all the drive motors attached to each thigh, and driving the main driving wheel motor, the plane motion of the four-wheel motion mode of the present invention is performed. Is realized, and the turning operation on the plane is performed by the differential motion of the two main driving wheels 10.

図３に示すように、平面５節機構を駆動することにより、主動輪１０を地面に接触する位置まで伸び、且つそれに接続されたモーターによって主動輪１０をロックして、アーチ型足を形成し、平面４節機構を駆動することにより足裏部材１１を地面に接近する位置まで調整し従動輪１４が走行過程において地面に接触できないように確保し、主動輪以外のモータを駆動して、二つの主動輪１０及び二つの足裏１１が交互に走行する歩振りを形成し、三次元空間におけるロボットの４足運動モードを実現する。 As shown in FIG. 3, by driving the flat five-node mechanism, the main driving wheel 10 is extended to a position where it comes into contact with the ground, and the main driving wheel 10 is locked by a motor connected to the main driving wheel 10 to form an arched foot. By driving the flat four-section mechanism, the sole member 11 is adjusted to a position close to the ground to ensure that the driven wheel 14 does not come into contact with the ground during the traveling process, and a motor other than the main driving wheel is driven. The two main driving wheels 10 and the two soles 11 form a walking motion that alternately travels, and realizes a four-legged motion mode of the robot in a three-dimensional space.

当業者であれば理解されるように、以上の説明は本発明の好適な実施例であって、本発明を制限するためのものではない。上記実施例によって本発明を詳しく説明したが、当業者は上記各実施例に記載される技術案を修正したり、そのうちの一部の技術的特徴に対して等価置換を行ったりすることができる。本発明の趣旨及び原則内に行った修正、等価置換等はいずれも本発明の範囲内に含まれるべきである。 As will be appreciated by those skilled in the art, the above description is a preferred embodiment of the invention and is not intended to limit the invention. Although the present invention has been described in detail by the above-mentioned Examples, those skilled in the art can modify the technical proposals described in the above-mentioned Examples and make equivalent substitutions for some of the technical features thereof. .. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present invention should be included within the scope of the present invention.

１ 胴体部材
２ 股部偏向方向部材
３ 股部横転方向部材
４ 股部腿部接続部材
５ 上腿部材
６ 下腿部材
７ 主動輪接続部材
８ 移動関節
９ 回転関節
１０ 主動輪
１１ 足裏部材
１２ 第２足裏調整部材
１３ 第１足裏調整部材
１４ 従動輪部材 1 Torso member 2 Crotch deflection direction member 3 Crotch lateral roll direction member 4 Crotch thigh connection member 5 Upper leg member 6 Lower leg member 7 Main drive wheel connection member 8 Mobile joint 9 Rotating joint 10 Main drive wheel 11 Sole member 12th 2 Sole adjustment member 13 1st sole adjustment member 14 Driven wheel member

Claims (4)

２足／４輪／４足運動モードを有する再構成可能な足型ロボットであって、
前記足型ロボットは左右対称構造であり、胴体部材（１）、左股部、右股部、左腿及び右腿を備え、前記胴体部材（１）が胴体部材の両側に対称配置される左股部及び右股部に回転可能に接続され、前記左腿及び右腿がそれぞれ左股部及び右股部に回転可能に接続され、
前記左股部は剛性接続される股部回転部材及び股部腿部接続部材（４）を備え、前記股部回転部材は前記左腿を胴体部材（１）に対して空間的に回転するように駆動するために用いられ、
前記左腿は上腿部材（５）、下腿部材（６）、主動輪接続部材（７）、移動回転部材（８、９）、主動輪（１０）、足裏部材（１１）及び従動輪（１４）を備え、
前記股部腿部接続部材（４）の両端はそれぞれ回転関節によって上腿部材（５）の一端と主動輪接続部材（７）の一端とに接続され、上腿部材（５）の他端は回転関節によって下腿部材（６）の一端に接続され、主動輪接続部材（７）は移動回転部材（８、９）によって下腿部材（６）に接続され、主動輪（１０）は回転関節によって主動輪接続部材（７）の他端に取り付けられ、下腿部材（６）の他端は回転関節によって足裏部材（１１）の中央部に接続され、従動輪（１４）は回転関節によって足裏部材（１１）の一端に接続され、股部腿部接続部材（４）、上腿部材（５）、下腿部材（６）、主動輪接続部材（７）及び移動回転部材（８、９）は平面５節機構を構成し、
前記左股部及び右股部の構造は同じであり、左腿及び右腿の構造は同じであり、
前記足裏部材（１１）及び平面５節機構を調整することにより、足裏部材（１１）のみが地面に接触する場合、前記足型ロボットが２足運動モードであり、主動輪（１０）と被動輪（１４）とが同時に地面に接触する場合、前記足型ロボットが４輪運動モードであり、主動輪（１０）と足裏部材（１１）とが同時に地面に接触し、且つ主動輪（１０）がロック状態にある場合、前記足型ロボットが４足運動モードであることを特徴とする２足／４輪／４足運動モードを有する再構成可能な足型ロボット。 A reconfigurable last-shaped robot with two-legged / four-wheeled / four-legged motion modes.
The foot-shaped robot has a symmetrical structure, includes a body member (1), a left crotch part, a right crotch part, a left thigh, and a right thigh, and the body member (1) is symmetrically arranged on both sides of the body member. It is rotatably connected to the crotch and right crotch, and the left thigh and right thigh are rotatably connected to the left and right thighs, respectively.
The left crotch portion includes a crotch rotating member and a crotch thigh connecting member (4) to be rigidly connected, and the crotch rotating member spatially rotates the left thigh with respect to the body member (1). Used to drive to
The left thigh has an upper thigh member (5), a lower leg member (6), a main driving wheel connecting member (7), a moving rotating member (8, 9), a main driving wheel (10), a sole member (11), and a driven wheel. With (14)
Both ends of the crotch thigh connecting member (4) are connected to one end of the upper thigh member (5) and one end of the main driving wheel connecting member (7) by rotary joints, respectively, and other than the upper thigh member (5). The ends are connected to one end of the lower leg member (6) by a rotary joint, the main drive wheel connecting member (7) is connected to the lower leg member (6) by a moving rotary member (8, 9), and the main drive wheel (10) is a rotary joint. The other end of the lower leg member (6) is connected to the central portion of the sole member (11) by a rotary joint, and the driven wheel (14) is connected to the central portion of the sole member (11) by a rotary joint. Connected to one end of the back member (11), the crotch thigh connecting member (4), the upper thigh member (5), the lower leg member (6), the main driving wheel connecting member (7), and the moving rotating member (8, 9). ) Consists of a flat five-section mechanism,
The structures of the left thigh and the right thigh are the same, and the structures of the left thigh and the right thigh are the same.
When only the sole member (11) comes into contact with the ground by adjusting the sole member (11) and the flat surface five-node mechanism, the foot type robot is in the two-foot movement mode, and the main driving wheel (10) and the main driving wheel (10). When the driven wheel (14) is in contact with the ground at the same time, the foot-shaped robot is in the four-wheel motion mode, the main driving wheel (10) and the sole member (11) are in contact with the ground at the same time, and the main driving wheel (14) is in contact with the ground. A reconfigurable foot robot having a two-leg / four-wheel / four-foot movement mode, characterized in that the foot robot is in a four-leg movement mode when 10) is in the locked state. 前記股部回転部材は股部偏向方向部材（２）及び股部横転方向部材（３）を備え、前記胴体部材（１）は回転関節によって股部偏向方向部材（２）に接続され、股部偏向方向部材（２）は回転関節によって股部横転方向部材（３）に接続され、股部横転方向部材（３）は股部腿部接続部材（４）に剛性接続されることを特徴とする請求項１に記載の２足／４輪／４足運動モードを有する再構成可能な足型ロボット。 The crotch rotation member includes a crotch deflection direction member (2) and a crotch lateral roll direction member (3), and the body member (1) is connected to the crotch deflection direction member (2) by a rotary joint to form a crotch portion. The deflection direction member (2) is connected to the crotch lateral roll direction member (3) by a rotary joint, and the crotch lateral roll direction member (3) is rigidly connected to the crotch thigh connection member (4). The reconfigurable foot-shaped robot having the two-legged / four-wheeled / four-legged motion mode according to claim 1. 前記足型ロボットは更に第１足裏調整リンク（１３）及び第２足裏調整リンク（１２）を備え、第１足裏調整リンク（１３）の一端は回転関節によって足裏部材（１１）の他端に接続され、第１足裏調整リンク（１３）の他端は回転関節によって第２足裏調整リンク（１２）の一端に接続され、第２足裏調整リンク（１２）の他端は回転関節によって下腿部材（６）に接続され、下腿部材（６）、第２足裏調整リンク（１２）、第１足裏調整リンク（１３）及び足裏部材（１１）は平面４節機構を構成して、足裏部材（１１）及び従動輪（１４）の位置調整を実施することを特徴とする請求項１に記載の２足／４輪／４足運動モードを有する再構成可能な足型ロボット。 The foot-type robot further includes a first sole adjustment link (13) and a second sole adjustment link (12), and one end of the first sole adjustment link (13) is formed by a rotary joint of the sole member (11). The other end of the first sole adjustment link (13) is connected to the other end, the other end of the first sole adjustment link (13) is connected to one end of the second sole adjustment link (12) by a rotary joint, and the other end of the second sole adjustment link (12) is connected. It is connected to the lower leg member (6) by a rotary joint, and the lower leg member (6), the second sole adjustment link (12), the first sole adjustment link (13) and the sole member (11) have a flat four-node mechanism. The reconfigurable foot having the two-foot / four-wheel / four-foot movement mode according to claim 1, which is configured to adjust the positions of the sole member (11) and the driven wheel (14). Type robot. 前記移動回転部材（８、９）は互いに接続される移動関節（８）及び回転関節（９）を備え、前記主動輪接続部材（７）は前記移動関節（８）及び回転関節（９）によって前記下腿部材（６）に対する移動及び回転を実施することを特徴とする請求項１に記載の２足／４輪／４足運動モードを有する再構成可能な足型ロボット。


The moving rotating member (8, 9) includes a moving joint (8) and a rotating joint (9) connected to each other, and the main driving wheel connecting member (7) is provided by the moving joint (8) and the rotating joint (9). The reconfigurable foot-shaped robot having a two-legged / four-wheeled / four-legged motion mode according to claim 1, wherein the lower leg member (6) is moved and rotated.
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