Hexapod Robot Device
AssigneeNational Kaohsiung University of Applied Science
InventorChih-Hsiung Yang
Life of this patent
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Abstract
A hexapod robot device includes a main body and six legs coupled thereto. Each leg has a first connecting rod pivotally connected with the main body, a first driver electrically pivotally connected between the main body and the first connecting rod, with the first driver controllably driving the first connecting rod to move forward and backward along a longitudinal direction, a second connecting rod pivotally connected with the first connecting rod, and a second driver pivotally connected between the first connecting rod and the second connecting rod, with the second driver controllably driving the second connecting rod to move upward and downward along a vertical direction. The second connecting rod further has an end to engage with the ground.
Claims20
A hexapod robot device comprising:
- a main body provided with an operation controller;
- and
- six legs coupled to the main body, each including:
- a first connecting rod pivotally connected with the main body;
- a first driver electrically connected with the operation controller and pivotally connected between the main body and the first connecting rod, with the first driver controllably driving the first connecting rod to move forward and backward along a longitudinal direction;
- a second connecting rod pivotally connected with the first connecting rod;
- and
- a second driver electrically connected with the operation controller and pivotally connected between the first connecting rod and the second connecting rod, with the second driver controllably driving the second connecting rod to move upward and downward along a vertical direction;
- wherein the second connecting rod has an end to engage with the ground.
A hexapod robot device comprising:
- a main body having a left side and a right side;
- a front left leg coupled to a front position of the left side of the main body;
- a middle left leg coupled to a middle position of the left side of the main body;
- a rear left leg coupled to a rear position of the left side of the main body;
- a front right leg coupled to a front position of the right side of the main body;
- a middle right leg coupled to a middle position of the right side of the main body;
- a rear right leg coupled to a rear position of the right side of the main body;
- and
- an operation controller provided on the main body;
- wherein the front left leg, the rear left leg and the middle right leg are grouped into a first group and the front right leg, the rear right leg and the middle left leg are grouped into a second group;
- and
- wherein the legs of the first group is operated to move upward and forward or backward by the operation controller while the legs of the second group stably supports the main body on the ground as a first triangular support, alternatively, the legs of the second group is operated to move upward and forward or backward by the operation controller while the legs of the first group stably supports the main body on the ground as a second triangular support.
A control method for a hexapod robot device comprising:
- coupling a front left leg, a middle left leg and a rear left leg to a front position, a middle position and a rear position of a left side of a main body, respectively;
- coupling a front right leg, a middle right leg and a rear right leg to a front position, a middle position and a rear position of a right side of the main body, respectively;
- grouping the front left leg, the rear left leg and the middle right leg into a first group and grouping the front right leg, the rear right leg and the middle left leg into a second group;
- controlling the legs of the first group to move upward and forward or backward and controlling the legs of the second group to stably support the main body on the ground by an operation controller;
- and
- alternatively controlling the legs of the second group to move upward and forward or backward and controlling the legs of the first group to stably support the main body on the ground by the operation controller.
Dependencies are inferred from the claim text.