SINGLE-LEG ROBOT MECHANISM FOR JUMPING ON A WALL AND METHOD FOR CONTROLLING THE SAME

Abstract

The disclosure discloses a single-leg robot mechanism for jumping on a wall and a control method. The mechanism includes a robot leg. A plurality of rotors is fixedly connected to a fuselage of the robot leg and is distributed in a mirror image arrangement with respect to the fuselage, and operating surfaces of the plurality of rotors are parallel to each other.

Claims

1. A single-leg robot mechanism for jumping on a wall, comprising: a robot leg, wherein a plurality of rotors is fixedly connected to a fuselage of the robot leg and is distributed in a mirror image arrangement with respect to the fuselage, and operating surfaces of the plurality of rotors are parallel to each other.

2. The single-leg robot mechanism for jumping on the wall according to claim 1, wherein a controller and a gyroscope are installed inside the fuselage, and the gyroscope and the plurality of rotors are all connected to the controller.

3. The single-leg robot mechanism for jumping on the wall according to claim 1, wherein the plurality of rotors comprises four rotors, and the four rotors are an upper left rotor, an upper right rotor, a lower left rotor, and a lower right rotor.

4. The single-leg robot mechanism for jumping on the wall according to claim 3, wherein the robot leg comprises the fuselage, a thigh, a crus and a foot that are sequentially articulated, wherein a hip joint configured to drive the thigh to rotate is provided at a location where the fuselage and the thigh are articulated, a knee joint configured to drive the calf to rotate is provided on the thigh, an ankle joint configured to drive the foot to rotate is provided on the calf, and the hip joint, the knee joint, and the ankle joint are all connected to the controller.

5. The single-leg robot mechanism for jumping on the wall according to claim 4, wherein a material with a friction factor greater than 0.5 is installed at a bottom of the foot.

6. A method for controlling the single-leg robot mechanism for jumping on the wall according to claim 5, comprising a force generation phase, a suspension phase, and a contraction phase, wherein in a process of jumping on the wall, the force generation phase is a phase in which the foot steps on the wall and the hip joint, the knee joint and the ankle joint operate actively; wherein in the force generation phase, the single-leg robot mechanism provides itself with a thrust upward and in a direction facing away from the wall by applying a pressure to the wall and by means of friction between the foot and the wall, and in the force generation phase, torque applied on the fuselage is provided by different rotation speeds of upper and lower rotors, in such a manner that a disturbance torque applied on the fuselage due to the stepping of the foot is balanced and thus balance of the fuselage is maintained; and wherein in the force generation phase, the gyroscope installed in the fuselage is configured to monitor posture and speed information of the single-leg robot mechanism, and then the balance of the fuselage is maintained by adjusting the stepping of the foot on the wall and rotation speeds of the plurality of rotors; wherein the suspension phase is a phase in which the foot of the single-leg robot mechanism does not contact the wall and an entirety of the single-leg robot mechanism is in suspension, wherein in the suspension phase, based on a posture of the fuselage fed back by the gyroscope, and the upper left rotor, the upper right rotor, the lower left rotor, and the lower right rotor cooperate to apply a thrust towards the wall to the single-leg robot mechanism, in such a manner that a center of mass obtains acceleration towards the wall; wherein at the same time, the hip joint, the knee joint, and the ankle joint move cooperatively, which, on the one hand, needs to overcome an influence of a gravity torque, and on the other hand, needs to select an appropriate foothold position based on a vertical speed; wherein the contraction phase is a phase in which the hip joint, the knee joint and the ankle joint are passively contracted after contacting the wall and the center of mass of the single-leg robot mechanism decelerates in a horizontal direction after the foot contacts the wall again; wherein in the contraction phase, after the foot contacts the wall, based on the posture of the fuselage of the single-leg robot mechanism fed back by data of the gyroscope, speeds of the upper left rotor, the upper right rotor, the lower left rotor, and the lower right rotor are adjust to balance torque applied on the center of mass of the single-leg robot mechanism caused by an impact of the wall on the foot and to maintain the balance of the fuselage until the leg is compressed to a set limit, and then the force generation phase starts; and wherein the force generation phase, the suspension phase, and the contraction phase circulate, in such a manner that continuously jumping of the single-leg robot mechanism on the wall is achieved.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0020] FIG. 1 is a perspective view of a single-leg robot mechanism for jumping on a wall according to the present disclosure;

[0021] FIG. 2 is a side view of a single-leg robot mechanism for jumping on a wall according to the present disclosure;

[0022] FIG. 3 is a schematic diagram of a dynamic model of a single-leg robot mechanism for jumping on a wall in a force generation phase when jumping on the wall according to the present disclosure;

[0023] FIG. 4 is a schematic diagram of a dynamic model of a single-leg robot mechanism for jumping on a wall in a suspension phase when jumping on the wall according to the present disclosure;

[0024] FIG. 5 is a schematic diagram of a dynamic model of a single-leg robot mechanism for jumping on a wall in a contraction phase when jumping on the wall according to the present disclosure; and

[0025] FIG. 6 is a block diagram of an algorithm control of the single-leg robot for jumping on a wall according to the present disclosure.

[0026] In the drawings: 1. fuselage, 2. hip joint, 3. thigh, 4. knee join, 5. calf, 6. ankle joint, 7. foot, 8. upper left rotor, 9. right upper rotor, 10. lower left rotor, and 11. lower right rotor.

DESCRIPTION OF EMBODIMENTS

[0027] The present disclosure will be further described below with reference to the drawings and examples.

[0028] As shown in FIG. 1 and FIG. 2, a single-leg robot mechanism for jumping on a wall includes a robot leg. A plurality of rotors is fixedly connected to a fuselage of the robot leg and is distributed in a mirror image arrangement with respect to the fuselage, and operating surfaces of the plurality of rotors are parallel to each other.

[0029] A controller and a gyroscope are installed inside the fuselage 1, and the gyroscope and the plurality of rotors are all connected to the controller.

[0030] In this embodiment, the number of the plurality of rotors is four, namely an upper left rotor 8, an upper right rotor 9, a lower left rotor 10, and a lower right rotor 11. The rotors can be, but are not limited to rotors of an unmanned aerial vehicle.

[0031] Further, the robot leg includes a fuselage 1, a thigh 3, a calf 5 and a foot 7 which are sequentially articulated. A hip joint 2 configured to drive the thigh to rotate is provided at the location where the fuselage 1 and the thigh 3 are articulated, the a knee joint 4 configured to drive the calf 5 to rotate is provided on the thigh 3, an ankle joint 6 configured to drive the foot 7 to rotate is provided on the calf 5, and the hip joint 2, the knee joint 4 and the ankle joint 6 are all connected to the controller. The technical solution of the robot leg according to the present disclosure can adopt, but is not limited to the technical contents disclosed in a patent literature whose patent number is CN106005079A.

[0032] Further, a material with a large friction factor, such as rubber, is installed at the bottom of the foot, and the friction factor of such material is greater than 0.5.

[0033] The operating process of the present disclosure is shown in FIG. 3 to FIG. 6, and is divided into three processes of a force generation phase, a suspension phase, and a contraction phase, which are described as follows.

[0034] FIG. 3 shows a posture and a force condition of the robot in the force generation phase The force generation phase is a phase in which the foot 7 of the single-leg robot mechanism steps on the wall and the hip joint 2, the knee joint 4 and the ankle joint 6 actively operate. In the force generation phase, the single-leg robot mechanism provides the robot with a thrust upward and in a direction facing away from the wall by applying a pressure on the wall and by means of friction between the foot 7 and the wall. The rotors in this phase are mainly operated to balance torque due to the stepping of the foot 7.

[0035] As shown in FIG. 3, dynamic equations in the force generation phase are listed as follows: [0036] in a horizontal direction:

N−N.sub.∥=ma.sub.∥, [0037] in a vertical direction:

f+N.sub.⊥−mg=ma.sub.⊥, [0038] torque:

T−T′=I.Math.β,

[0039] where N denotes a horizontal force applied on the center of mass of the robot when the leg steps on the wall, N.sub.∥ denotes a horizontal force applied on the center of mass of the single-leg robot generated by the operating of the rotors, m denotes mass of the robot, a.sub.∥ denotes acceleration of the single-leg robot mechanism in the horizontal direction; f denotes friction applied on the center of mass of the single-leg robot mechanism when the leg steps on the wall, N.sub.⊥ denotes a vertical force applied on the center of mass of the single-leg robot mechanism generated by the operating of the rotors, g denotes acceleration of gravity, a.sub.⊥ denotes acceleration of the robot in the vertical direction; T denotes torque of the single-leg robot generated by the stepping of foot on the wall, T′ denotes torque generated when the rotors operate, I denotes a rotational inertia of the robot, and β denotes an angular acceleration of the single-leg robot mechanism.

[0040] In the force generation phase, the gyroscope installed in the fuselage 1 needs to read pitch angles of the fuselage and values of a.sub.∥ and a.sub.⊥ in real time, and then magnitudes of N.sub.∥, N.sub.⊥ and T′ are adjusted by adjusting the stepping of the foot 7 on the wall and the rotation speeds of the rotors, enabling the center of mass of the single-leg robot mechanism to obtain a greater vertical acceleration a.sub.⊥ and a smaller horizontal acceleration a.sub.∥, and maintaining balance of the torque of the fuselage of the single-leg robot mechanism. When the thigh 3 and the calf 5 are kept in a straight line, the fuselage 1 continues to move upward and outward, the foot 7 will leave the wall, and a sensor in the foot 7 cannot detect information about contacting the wall, at this time the suspension phase starts.

[0041] FIG. 4 shows a posture and force condition of the single-leg robot mechanism in the suspension phase. The suspension phase is a phase in which the foot 7 does not contact the wall and the whole robot is in suspension. During the suspension phase, based on postures of the fuselage of the single-leg robot mechanism that are fed back by the gyroscope, the upper left rotor 8, the upper right rotor 9, the lower left rotor 10, and the lower right rotor 11 cooperate to apply a thrust toward the wall to the robot and balance the posture of the fuselage. If the fuselage 1 leans forward, the lower left rotor 10 and the lower right rotor 11 rotate faster, and the upper left rotor 8 and the upper right rotor 9 rotate slower, providing the single-leg robot with a pitching up torque. If the fuselage 1 leans backward, the upper left rotor 8 and the upper right rotor 9 rotate faster, and the lower left rotor 10 and the lower right rotor 11 rotate slower, providing the single-leg robot with a pitching down torque.

[0042] As shown in FIG. 4, dynamic equations in the suspension phase are listed as follows: [0043] in the horizontal directions:

N.sub.∥=ma.sub.∥, [0044] in the vertical direction:

N.sub.⊥−mg=ma.sub.⊥, [0045] torque:

T′=I.Math.β.

[0046] In the suspension phase, the gyroscope installed in the fuselage 1 needs to read the pitching up and pitching down angles of the fuselage and values of a.sub.∥ and a.sub.⊥ in real time, and then the magnitude of T′ is adjusted by adjusting the rotation speeds of the rotors, enabling the center of mass of the single-leg robot mechanism to obtain a greater horizontal acceleration a.sub.∥ toward the wall, and maintaining the balance of the torque of the fuselage of the single-leg robot mechanism. In the suspension phase, the hip joint 2, the knee joint 4 and the ankle joint 6 cooperatively move, which, on the one hand, needs to overcome the influence of a gravity torque, and on the other hand, needs to select an appropriate foothold position based on the vertical speed. When a thrust toward the wall applied cooperatively by the upper left rotor 8, the upper right rotor 9, the lower left rotor 10, and the lower right rotor 11 enables the single-leg robot mechanism to move toward the wall, the foot 7 starts to contact the wall and then the contraction phase starts.

[0047] FIG. 5 shows a posture and force condition of the single-leg robot mechanism in the contraction phase. The contraction phase is a phase in which the hip joint 2, the knee joint 4 and the ankle joint 6 contract in a state of zero torque after the foot 7 contacts the wall again. During the contraction phase, after the foot 7 contacts the wall, based on the posture of the fuselage of the single-leg robot mechanism that is fed back based on the data from the gyroscope, the upper left rotor 8, speeds of the upper right rotor 9, the lower left rotor 10, and the lower right rotor 11 are adjusted to balance torque applied on the center of mass of the single-leg robot mechanism due to the impact of the wall on the foot 7, maintaining the balance of the fuselage 1.

[0048] As shown in FIG. 5, dynamic equations in the contraction phase are listed as follows: [0049] in the horizontal direction:

N−N.sub.∥=ma.sub.∥, [0050] in the vertical direction:

N.sub.⊥−mg=ma.sub.⊥, [0051] torque:

T′−T′=I.Math.β.

[0052] In the contraction phase, the robot maintains the balance of the posture of the fuselage of the single-leg robot mechanism through the operation of the rotors, the dynamic equations in the contraction phase are similar to those in the force generation phase, and there is a main difference therebetween, which is that the hip joint 2, the knee joint 4 and the ankle joint 6 are driven to move passively in the contraction phase until the leg is compressed to a set limit and then the force generation phase starts. And the force generation phase, the suspension phase, and the contraction phase circulate, thus achieving the function of jumping on the vertical wall.