公开(公告)号：US20240335960A1

公开(公告)日：2024-10-10

申请号：US18222376

申请日：2023-07-14

申请人： BEIJING INSTITUTE OF TECHNOLOGY

发明人： Qing SHI ,  Ruochao WANG ,  Hang XIAO ,  Rongjie DU ,  Xiaolong QUAN ,  Junhui GAO

IPC分类号： B25J17/00 ,  B25J9/00 ,  B62D21/18 ,  B62D57/032

CPC分类号： B25J17/00 ,  B25J9/0009 ,  B62D21/18 ,  B62D57/032

摘要： Provided are a quadruped robot and a spine-leg-foot coupling driving method, relating to the technical field of bionic robots. The quadruped robot includes an active spine, and two trunks. The two trunks are a fore trunk and a hind trunk, respectively. The two trunks can pitch and can be telescopically arranged at both ends of the active spine in a front-rear direction. The active spine can drive the trunks to pitch, extend and retract. In accordance with the spine-leg-foot coupling driving method, the pitch and retraction state of the spine and the energy storage and release state of legs during the running of a quadruped are stimulated by controlling the swing state of a swing output member, the extension and retraction state of the trunk and the energy storage and release state of an elastic leg.