ROBOT

A robot includes a control system, a trunk module, and a leg module connected to the trunk module. The leg module includes at least one leg assembly. The leg assembly includes a plurality of connected moving elements. The control system can control at least one moving element to switch between a state of being lifted off the ground and a state of being in contact with the ground, so as to change the overall state of the robot.

TECHNICAL FIELD

The present application relates to the technical field of artificial intelligent devices, and in particular to a robot.

BACKGROUND

With the development of artificial intelligence technology, robots have begun to enter the family scene, and especially robots with children's education and companionship roles are very popular among parents in the market. However, the actions of the existing robots are not flexible enough.

SUMMARY

Embodiments of the present application provide a robot.

Embodiments of the present application provide a robot, including a control system, a trunk module, and a leg module connected to the trunk module. The leg module includes at least one leg assembly. The leg assembly further includes a plurality of connected moving elements. The control system is able to control at least one of the moving elements to switch between a state of being lifted off the ground and a state of being in contact with the ground, so as to change the overall state of the robot.

In some embodiments, the trunk module includes a first action component. An output end of the first action component is drivingly connected to the leg module.

In some embodiments, the leg module includes at least two leg assemblies arranged on opposite sides of the trunk module. The trunk module is rotatable relative to the leg assemblies.

In some embodiments, the leg assembly further includes a wheel frame connected to the plurality of moving elements. The control system controls the wheel frame to rotate relative to the trunk module so that the moving element switches between the state of being lifted off the ground and the state of being in contact with the ground.

In some embodiments, the wheel frame includes a plurality of connecting sections and a joint for connecting the connecting sections. The control system is able to control the plurality of connecting sections to move relative to each other through the joint.

In some embodiments, the wheel frame includes a first structural member rotatably connected to the trunk module. One side of the first structural member away from the trunk module is rotatably connected to the plurality of moving elements.

In some embodiments, the wheel frame includes a second structural member and a third structural member.

The second structural member is rotatably connected to the trunk module. One side of the second structural member away from the trunk module is rotatably connected to at least one moving element.

The third structural member is rotatably connected to the trunk module. One side of the third structural member away from the trunk module is rotatably connected to at least one moving element.

In some embodiments, the wheel frame further includes a telescopic mechanism.

One end of the telescopic mechanism is movably connected to the second structural member, and the other end of the telescopic mechanism is movably connected to the third structural member, for controlling an angle change of a first included angle. The first included angle is an included angle of an opening formed by the second structural member and the third structural member away from the trunk module.

In some embodiments, the second structural member and the third structural member are rotatably connected to the trunk module through the same rotating shaft. The third structural member is located between the second structural member and the trunk module.

In some embodiments, the wheel frame includes a fourth structural member and a fifth structural member.

One end of the fourth structural member is hinged to the trunk module, and the other end of the fourth structural member is hinged to the fifth structural member. The fifth structural member is rotatably connected to a plurality of moving elements.

The control system adjusts the distance between two moving elements and/or an included angle formed between two moving elements through the fourth structural member and the fifth structural member. The two moving elements are oppositely arranged on both sides of the trunk module.

In some embodiments, the leg module includes two leg assemblies, defined as a first leg assembly and a second leg assembly respectively. The first leg assembly includes a first wheel frame and moving elements provided on the first wheel frame. The moving elements provided on the first wheel frame are defined as the first moving elements. The number of the first moving elements is at least two. The first moving elements are arranged at opposite ends of the first wheel frame. The second leg assembly includes a second wheel frame and moving elements provided on the second wheel frame. The moving elements provided on the second wheel frame are defined as second moving elements. The number of the second moving elements is at least two. The second moving elements are arranged at opposite ends of the second wheel frame.

In some embodiments, the number of the first moving elements is two, and at least one of the two first moving elements is a driving wheel, defined as a first driving wheel. The control system is able to control the first driving wheel to rotate.

In some embodiments, the number of the second moving elements is two, and at least one of the two second moving elements is a driving wheel, defined as a second driving wheel. The control system is able to control the second driving wheel to rotate.

In some embodiments, the first action component includes a plurality of output ends, and each output end is drivingly connected to one corresponding wheel frame.

In some embodiments, the plurality of output ends are driven simultaneously by the same driving member or driven respectively by a plurality of driving members.

In some embodiments, the first action component includes two output ends provided at opposite ends of the trunk module. The two output ends are driven respectively by two driving members and defined as a first output end and a second output end. The first output end is drivingly connected to the first wheel frame, and the second output end is drivingly connected to the second wheel frame.

In some embodiments, the robot further includes a sensing system. The sensing system monitors the component posture and the position state of the robot. The control system obtains the overall state of the robot according to the component posture and the position state. When the overall state is a tipping or tilting state, the control system controls the trunk module to rotate relative to the leg module and/or the moving element to rotate, so that the robot balances autonomously.

In some embodiments, the sensing system includes an angle detection component that detects a relative angle between the leg module and the trunk module. The control system obtains the component posture of the robot according to the relative angle.

In some embodiments, the sensing system further includes a first sensing component that monitors a positional relationship of the center of gravity of the robot relative to the ground to obtain the position state of the robot. The control system determines whether the robot has a tendency to tip over according to the position state and the component posture. When the robot has a tendency to tip over, the control system controls the trunk module to rotate relative to the leg module and/or the moving element to rotate, so that the robot generates torque in a direction opposite to a tipping direction to prevent the robot from tipping over.

In some embodiments, the control system further determines whether the robot is in the tipping state according to the position state and the component posture. When the robot is in the tipping state, the control system controls the trunk module to rotate relative to the leg module and/or the moving element to rotate, so as to make the robot in a standing state.

In some embodiments, the first sensing component obtains trunk position information by monitoring a positional relationship of the center of gravity of the trunk module relative to the ground. The control system obtains leg position information according to the trunk position information and the component posture. The control system obtains the position state of the robot according to the trunk position information and the leg position information.

In some embodiments, the first sensing component includes a trunk detection component and a leg detection component. The trunk detection component obtains trunk position information by monitoring a positional relationship of the center of gravity of the trunk module relative to the ground. The leg detection component obtains leg position information by monitoring a positional relationship of the center of gravity of the leg module relative to the ground. The control system obtains the position state of the robot according to the trunk position information and the leg position information.

In some embodiments, the trunk module includes a head-face assembly and a body assembly connected movably. The body assembly connects the head-face assembly with the leg module. Rotation of the body assembly relative to the leg module drives rotation of the head-face assembly relative to the leg module.

DESCRIPTION OF REFERENCE NUMBERS

DETAILED DESCRIPTION

In order to make the objects, technical solutions, and advantages of the present application more clear, the present application will be further described in detail below with reference toFIGS.1to13and implementation examples. It should be understood that the specific embodiments described herein are only used to explain but not limit the present application.

It should be noted that the terms such as “first” and “second” in the specification and claims are used to distinguish different objects, rather than describing a particular sequence.

It should be noted that, when an element is referred to as being “fixed” to another element, the element may be directly on the other element, or there may also be intervening elements. When an element is said to be “connected” to another element, the element may be directly connected to the other element, or there may be intervening elements. The terms “vertical,” “horizontal,” “left,” “right” and similar expressions are used herein for illustrative purpose only.

In the present application, the orientation or position relationships indicated by the terms “above”, “below”, “left”, “right”, “front”, “rear”, “top”, “bottom”, “inner”, “outer”, “middle”, “vertical”, “horizontal”, “lateral”, “longitudinal”, etc. are orientation or position relationships shown based on the drawings. These terms are mainly used to better describe the present application and the embodiments thereof, and are not intended to limit the indicated apparatus, element or component to have a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may also be used to express other meanings in addition to indicating orientation or positional relationships. For example, the term “above” may also be used to express a certain dependence relationship or connection relationship in some cases. Those having ordinary skills in the art may understand the specific meanings of these terms in the present application according to specific situations.

In addition, the terms “install”, “arrange”, “provided with”, “connect” and “couple” should be understood in a broad sense. For example, the connection may be a fixed connection or detachable connection or integral connection; may be a mechanical connection or electrical connection; may be a direct connection, or indirect connection through an intermediate medium, or internal communication between two apparatuses, elements or components. Those having ordinary skills in the art may understand the specific meanings of the above-mentioned terms in the present application according to specific situations.

In combination withFIGS.1and2, a first embodiment of the present application provides a robot1. The robot1includes a control system11, a trunk module12, and a leg module13connected to the trunk module12. Here, the leg module13includes at least one leg assembly131. The leg assembly131includes a plurality of connected moving elements1311. The control system11controls at least one moving element1311to switch between a state of being lifted off the ground and a state of being in contact with the ground, to change the overall state of the robot1. It should be understood that the relative positional relationship of various components of the robot1constitutes the component posture of the robot1itself. The positional relationship of the robot1relative to the ground constitutes the position state of the robot1. The component posture of the robot1and the position state of the robot1jointly determine the overall state of the robot1.

It can be understood that the control system11can control at least one moving element1311to switch between the state of being lifted off the ground and the state of being in contact with the ground, thereby changing the overall state of the robot1and making the actions of the robot1more flexible and changeable. For example, when all the moving elements1311are in contact with the ground, the robot1is in a prone position, like a cute pet with all feet on the ground. When some of the moving elements1311are lifted off the ground, the robot1is in the standing state, like a cute pet with some feet standing and some feet lifted. The actions of the robot1are more flexible and richer, providing basic conditions for the in-depth advancement of human-computer interaction. Moreover, the design that the control system11can control at least one moving element1311to switch between the state of being lifted off the ground and the state of being in contact with the ground enables the robot1to adapt to more complex environments. For example, the robot1can control some of the moving elements1311to be lifted off the ground to bypass obstacles; or when the robot1has a tendency to tilt, the moving elements1311that are lifted off the ground are switched to the state of being in contact with the ground, to prevent the robot1from tipping over. As can be seen, the design that the control system11can control at least one moving element1311to switch between the state of being lifted off the ground and the state of being in contact with the ground greatly improves the flexibility, adaptability and reliability of the actions of the robot1.

It should be understood that the location of the control system11is not limited, as long as the control system11can realize the control function. Optionally, the control system11may be centrally provided on the trunk module12, the leg module13or an external terminal; or the control system11may be distributedly provided on the trunk module12and the leg module13; or the control system11may be partially provided on the trunk module12and/or the leg module13and partially provided on the external terminal.

Further, the leg module13includes at least two leg assemblies131. The leg assemblies131can move relative to the trunk module12, to thereby drive the moving elements1311to move relative to the trunk module12. Optionally, the leg assemblies131are arranged on the side and/or bottom of the body assembly123.

Further, at least two leg assemblies131are arranged on opposite sides of the trunk module12.

It can be understood that the design of arranging at least two leg assemblies131on opposite sides of the trunk module12makes the overall design of the robot1more symmetrical, and thus makes the overall center of gravity of the robot1relatively more centered, so that the robot1is easier to maintain balance and stability, further improving the adaptability of the robot1to different terrains. Moreover, the design of the leg assemblies131arranged on opposite sides of the trunk module12allows the center of gravity of the trunk module12to be relatively closer to the ground, thus reducing the height of the overall center of gravity of the robot1, further improving the stability of the robot1and making it less likely to tip over, and thereby further improving the adaptability of the robot1to the environment.

Specifically, in some embodiments of the present application, the number of leg assemblies131is two. The two leg assemblies131are respectively defined as a first leg assembly131and a second leg assembly131. The first leg assembly131and the second leg assemblies131are arranged on opposite sides of the trunk module12.

Referring toFIGS.1to3, the trunk module12further includes a first action component121. The first action component121includes an output end1211. The output end1211is drivingly connected to the leg assembly131, so as to drive the leg assembly131to move relative to the trunk module12.

It should be understood that the output end1211of the first action component121can be provided at a corresponding position on the body assembly123corresponding to the position of the leg assembly131. Specifically, in some embodiments of the present application, the output ends1211of the first action component121are respectively provided at the opposite ends of the trunk module12corresponding to the first leg assembly131and the second leg assembly131.

Optionally, the manner in which the leg assembly131moves relative to the trunk module12is not limited, and maybe, but is not limited to, rotation, rolling, reciprocating motion, etc. Specifically, in some embodiments of the present application, the manner in which the leg assembly131moves relative to the trunk module12is rotation.

It can be understood that the arrangement of the first action component121with the output end1211drivingly connected to the leg module13enables the leg module13to move relative to the trunk module12, so that the robot1can realize the function that the trunk module12and the leg module13can move separately or only one of the two modules moves as needed, thereby further effectively improving the flexibility of the movement and action of the robot1and the adaptability of the robot1to the environment, and also further enhancing the expressiveness of the robot1, and making the robot1more in line with the bionic requirement.

Further, the trunk module12also includes a head-face assembly122and a body assembly123connected movably. The body assembly123movably connects the head-face assembly122with the leg module13. The rotation of the body assembly123relative to the leg module13drives the rotation of the head-face assembly122relative to the leg module13.

Further, the head-face assembly122includes two opposite sides, where the face1221is provided on one side and the back of the head1222is provided on the other side. This design makes the robot1more bionic.

It can be understood that the body assembly123connects the head-face assembly122with the leg module13, and the rotation of the body assembly123relative to the leg module13drives the rotation of the head-face assembly122relative to the leg module13, so that the head-face assembly122of the robot1can rotate relative to the leg module13through the rotation of the body assembly123, further improving the richness and flexibility of the actions of the robot1, and simultaneously making the bionic effect of the robot1better.

Further, the first action component121is arranged on the body assembly123, and the output end1211of the first action component121can drive the leg module13to rotate relative to the body assembly123.

Optionally, the first action component121includes one or more output ends1211. Specifically, in some embodiments of the present application, the first action component121includes a plurality of output ends1211that are drivingly connected to the leg assemblies131.

Further, the number of output ends1211corresponds to the number of leg assemblies131. Each output end1211is drivingly connected to one leg assembly131in one-to-one correspondence. Optionally, the plurality of output ends1211are driven by the same driving member1212at the same time or driven by a plurality of driving members1212respectively.

It can be understood that the design of arranging the plurality of output ends1211and drivingly connecting each output end1211to one corresponding leg assembly131ensures that each leg assembly131can rotate relative to the trunk module12under the drive of the output end1211, so that the robot1can make corresponding actions according to needs, thereby further improving the action flexibility of the robot1.

When the plurality of output ends1211are driven by the same driving member1212at the same time, a plurality of leg assemblies131can act synchronously, so as to implement actions such as the same ends of the plurality of leg assemblies131are in contact with the ground at the same time and the other ends thereof are lifted off the ground at the same time. When the plurality of output ends1211are driven by a plurality of driving members1212respectively, the plurality of leg assemblies131can also act autonomously, so as to implement actions such as one end of only one leg assembly131is in contact with the ground and the other end thereof is lifted off the ground while both ends of other leg assemblies131are in contact with the ground.

Optionally, the type of the driving member1212is not limited, and may be but is not limited to a motor, a cylinder, etc., as long as the driving member1212can drive the leg assembly131to act accordingly. Specifically, in some embodiments of the present application, the driving member1212is a motor.

Specifically, in some embodiments of the present application, the first action component121includes two output ends1211provided at opposite ends of the trunk module12. Optionally, the two output ends1211are driven by a motor at the same time or driven by two motors respectively. Specifically, in some embodiments of the present application, the two output ends1211are driven by two motors respectively. The two output ends1211are defined as a first output end1211and a second output end1211. The motor corresponding to the first output end1211is defined as a first motor, and the motor corresponding to the second output end1211is defined as a second motor. The first output end1211is drivingly connected to the first leg assembly131, and the second output end1211is drivingly connected to the second leg assembly131.

It can be understood that, corresponding to the two leg assemblies131, the design of arranging output ends1211driven by two driving members1212respectively ensures that both of the two leg assemblies131can act autonomously under the drive of the output ends1211, further improving the flexibility of the actions of the robot1and simultaneously making the bionic effect of the robot1better.

Further, the leg assembly131also includes a wheel frame1312connected to a plurality of moving elements1311. The output end1211of the first action component121is drivingly connected to the wheel frame1312. The control system11controls the rotation of the output end1211of the first action component121to drive the wheel frame1312to rotate relative to the trunk module12, thereby driving the moving elements1311to switch between the state of being lifted off the ground and the state of being in contact with the ground.

It can be understood that, by arranging the wheel frame1312connected to the plurality of moving elements1311, the control system11can control the rotation of the wheel frame1312relative to the trunk module12to switch the moving elements1311between the state of being lifted off the ground and the state of being in contact with the ground, thereby changing the overall state of the robot1. The design of the wheel frame1312allows a plurality of moving elements1311in the same leg assembly131to move in association, thereby enriching the actions of the robot1. For example, some moving elements1311in contact with the ground on one leg assembly131support other moving elements1311to lift off the ground, so that the robot1can complete the action that some of the moving elements1311are in the state of being in contact with the ground and some of the moving elements1311are in the state of being lifted off the ground. Moreover, the way of connecting a plurality of moving elements1311in one leg assembly131through the wheel frame1312facilitates the synchronous movement of the plurality of moving elements1311, thereby further improving the movement stability of the robot1. It can be seen that the arrangement of the wheel frame1312further improves the richness and stability of actions of the robot1.

Further, the first leg assembly131includes a first wheel frame1312and moving elements1311provided on the first wheel frame1312. The moving elements1311provided on the first wheel frame1312are defined as the first moving elements. The number of first moving elements is at least two, and the first moving elements are arranged at opposite ends of the first wheel frame1312. The second leg assembly131includes a second wheel frame1312and moving elements1311provided on the second wheel frame1312. The moving elements1311provided on the second wheel frame1312are defined as second moving elements. The number of second moving elements is at least two, and the second moving elements are arranged at opposite ends of the second wheel frame1312. Optionally, both the number of first moving elements and the number of second moving elements may be but not limited to 2, 3, 4, 5, 6, 7, 8, 9, 10, etc.

It can be understood that the design of arranging two leg assemblies131and arranging a plurality of moving elements1311at opposite ends of each leg assembly131further ensures the symmetry of the overall design of the robot1and thus ensures that the center of gravity of the robot1is relatively centered relative to the two leg assemblies131, so that the overall stability of the robot1is higher, thereby also enabling the robot1to stably implement more relatively complex actions, and also enabling the robot1to extend at a relatively larger angle during action, thus further improving the flexibility and richness of actions of the robot1. Moreover, the design of the plurality of moving elements1311arranged at opposite ends of each leg assembly131ensures that each leg assembly131can achieve the action that one end is in contact with the ground while the other end lifts off the ground, thus further ensuring the action diversity of the robot1.

It can be understood that two output ends1211are drivingly connected to two wheel frames1312. That is, the first output end1211is drivingly connected to the first wheel frame1312, and the second output end1211is drivingly connected to the second wheel frame1312.

Further, each leg assembly131also includes a second action component1315that is drivingly connected to at least one moving element1311and can drive the moving element1311to act, and the action of the moving element1311can drive the robot1to move. Moreover, each leg assembly131includes at least two moving elements1311, of which at least one moving element1311is drivingly connected to the second action component1315as a driven moving element1311, and the remaining moving elements1311that are not drivingly connected to the second action component1315are driven moving elements1311. The action of the driving moving element1311drives the action of the driven moving elements1311, thereby realizing the movement function of the robot1.

It can be understood that, by arranging the second action component1315in the leg assembly131that can drive the moving elements1311to act and drive the robot1to move, the robot1can be driven to move as a whole through the second action component1315, improving the movement flexibility of the robot1. Furthermore, the second action component1315drives the moving elements1311to act, so that the overall acceleration of the robot1can also be changed through the action of the moving elements1311when the center of gravity of the robot1is unstable, so that the robot1can maintain or restore the balanced state with the help of various external forces such as motion inertia, motion resistance and gravity, thereby greatly improving the autonomous balancing ability and environmental adaptability of the robot1.

Moreover, by setting one of the two moving elements1311as a driving wheel and the other as a driven wheel, the robot1can move under the drive of the driving wheel while maintaining balance under the support of the driven wheel. Furthermore, the setting of the driven wheel can reduce the friction force on the ground when the robot1moves, thereby further increasing the movement flexibility of the robot1.

It should be understood that the type of the moving element1311is not limited, as long as the function of driving the robot1to move when the moving element1311acts can be implemented. Optionally, the moving element1311may be, but is not limited to, roller, crawler, etc. Specifically, in some embodiments of the present application, the moving elements1311are rollers, the corresponding driving moving element1311is a driving wheel1313, and the corresponding driven moving element1311is a driven wheel1314.

Further, the number of first moving elements is two, and at least one of the two first moving elements is a driving wheel1313. The driving wheel1313in the first moving elements is defined as a first driving wheel1313, and the driven wheel1314in the first moving elements is defined as a first driven wheel1314. The control system11can control the first driving wheel1313to rotate. The number of second moving elements is two, and at least one of the two second moving elements is a driving wheel1313. The driving wheel1313in the second moving elements is defined as a second driving wheel1313, and the driven wheel1314in the second moving elements is defined as a second driven wheel1314. The control system11can control the second driving wheel1313to rotate. When the moving elements1311land on the ground at the same time, the first driving wheel1313and the second driving wheel1313are located on one side of the body assembly123, and the first driven wheel1314and the second driven wheel1314are located on the other side of the body assembly123.

It can be understood that, by arranging the two driving wheels1313on one side of the body assembly123and the two driven wheels1314on the other side of the body assembly123, the robot1can achieve a posture in which the two driving wheels1313land on the ground at the same time and the two driven wheels1314lift off the ground at the same time by rotating the leg assembly131relative to the body assembly123, and the robot1in this posture can also stand by two wheels and can also move by moving the two driving wheels1313at the same time, thereby further improving the action flexibility and diversity of the robot1.

Optionally, two driving wheels1313may be provided at one end of the wheel frame1312close to the face1221, and two driven wheels1314may be provided at the other end of the wheel frame1312close to the back of the head1222; or, two driven wheels1314may be provided at one end of the wheel frame1312close to the face1221, and two driving wheels1313may be provided at the other end of the wheel frame1312close to the back of the head1222. Specifically, in some embodiments of the present application, two driving wheels1313may be provided at one end of the wheel frame1312close to the face1221, and two driven wheels1314may be provided at the other end of the wheel frame1312close to the back of the head1222.

It can be understood that the design that at least one of the two first moving elements is a driving wheel1313enables the robot1to move under the drive of the first leg assembly131, and moreover, the design that at least one of the two second moving elements is a driving wheel1313enables the robot1to also move under the drive of the second leg assembly131, thereby ensuring the movement flexibility of the robot1.

Further, the wheel frame1312includes a plurality of connecting sections and a joint for connecting the connecting sections. The control system11may control the plurality of connecting sections to move relative to each other through the joint.

It can be understood that the wheel frame1312is designed with the plurality of connecting sections that can move relatively through the joint, so that the action modes between the wheel frame1312and the moving elements1311on the wheel frame1312are more diverse, that is, the actions of the leg assemblies131are more flexible and changeable. For example, the robot1can support the trunk module12and other leg assemblies131through the joint in contact with the ground. Moreover, the connecting sections are movably connected through the joint, so that the center of gravity of the robot1can also be adjusted through the relative movement between the connecting sections when the robot1moves on uneven ground or the center of gravity is unstable, thereby making the stability of the robot1higher.

To sum up, in the robot1in the embodiments of the present application, the head-face assembly122is movably connected to the body assembly123, and the first leg assembly131and the second leg assembly131are respectively connected to the opposite ends of the body assembly123, where the first output end1211is drivingly connected to the first wheel frame1312, and the second output end1211is drivingly connected to the second wheel frame1312. The first driving wheel1313and the first driven wheel1314are respectively arranged at opposite ends of the first wheel frame1312, and the second driving wheel1313and the second driven wheel1314are respectively arranged at opposite ends of the second wheel frame1312. Here, each of the first driving wheel1313and the second driving wheel1313is arranged at one end of the wheel frame1312close to the face1221, that is, each of the first driven wheel1314and the second driven wheel1314is arranged at one end of the wheel frame1312close to the back of the head1222.

It can be understood that the wheel frame of the robot may also be of other structures. Other specific structures of the wheel frame are described in detail below.

In some embodiments, referring toFIG.4, the wheel frame includes a first structural member13121rotatably connected to the trunk module12, and one side of the first structural member13121away from the trunk module12is rotatably connected to a plurality of moving elements1311.

Referring toFIG.4, the trunk module12of the robot has a screen124that is connected to the control system11by a signal for realizing manual interaction. The robot1further includes a sensing system14that monitors the component posture and position state of the robot1, and the control system11obtains the overall state of the robot1according to the component posture and position state. It should be noted that the sensing system14can also sense the external environment. For example, the sensing system includes at least one sensor, which can sense obstacles so that the robot has an obstacle avoidance function. The leg module13of the robot includes two leg assemblies131, and the two leg assemblies131are arranged oppositely on both sides of the trunk module12. Due to perspective issue, only the leg assembly131on one side of the trunk module12is shown inFIG.4. The leg assembly131includes a wheel frame and moving elements1311arranged on the wheel frame. The first structural member13121of the wheel frame has three connecting ends. The first connecting end of the first structural member13121is rotatably connected to the trunk module12through a first rotating shaft, the second connecting end of the first structural member13121is rotatably connected to one of the moving elements1311through the second rotating shaft, and the third connecting end of the first structural member13121is rotatably connected to the other moving element1311through a third rotating shaft. Of course,FIG.4takes two moving elements as an example. When there are a plurality of moving elements, the first structural member has a connecting end that rotates in cooperation with any one of the moving elements. The control system11can realize switching among two-wheel landing, three-wheel landing and four-wheel landing forms by controlling the rotation of the wheel frame around the first rotating shaft, i.e., the connecting shaft between the wheel frame and the trunk module12.

In some embodiments, referring toFIGS.5and6, the wheel frame includes a second structural member13122and a third structural member13123. The second structural member13122is rotatably connected to the trunk module12, and one side of the second structural member13122away from the trunk module12is rotatably connected to at least one moving element1311. The third structural member13123is rotatably connected to the trunk module12, and one side of the third structural member13123away from the trunk module12is rotatably connected to at least one moving element1311.

Referring toFIGS.5and6, the difference from the structure inFIG.4is that the wheel frame includes the second structural member13122and third structural member13123, the second structural member13122has two connecting ends, the first connecting end of the second structural member13122is rotatably connected to the trunk module12through a fourth rotating shaft, and the second connecting end of the second structural member13122is rotatably connected to one of the moving elements1311through a fifth rotating shaft; the third structural member13123has two connecting ends, the first connecting end of the third structural member13123is rotatably connected to the trunk module12through a sixth rotating shaft, and the second connecting end of the third structural member13123is rotatably connected to the other moving element1311through a seventh rotating shaft; and the fourth rotating shaft is parallel to the sixth rotating shaft. The control system11can realize switching among two-wheel landing, three-wheel landing and four-wheel landing forms by controlling the rotation of the wheel frame around the first rotating shaft, i.e., the connecting shaft between the wheel frame and the trunk module12. Further, this structure can also adjust the center of gravity of the trunk module12in various landing forms, thereby increasing the variability of the robot. For example, the center of gravity of the robot is lowered from the posture inFIG.5to the posture inFIG.6.

In some embodiments, referring toFIGS.7and8, the wheel frame includes a second structural member13122, a third structural member13123and a telescopic mechanism13124. The second structural member13122is rotationally connected to the trunk module12, and one side of the second structural member13122away from the trunk module12is rotatably connected to at least one moving element1311. The third structural member13123is rotatably connected to the trunk module12, and one side of the third structural member13123away from the trunk module12is rotatably connected to at least one moving element1311. One end of the telescopic mechanism13124is movably connected to the second structural member13122, and the other end of the telescopic mechanism13124is movably connected to the third structural member13123, for controlling the angle change of a first included angle. The first included angle is an included angle of an opening formed by the second structural member13122and the third structural member13123away from the trunk module12.

Referring toFIGS.7and8, the difference from the structure inFIG.5is that the second structural member13122and the third structural member13123are connected through the telescopic mechanism13124, the telescopic mechanism13124can adjust the included angle of the opening formed by the second structural member13122and the third structural member13123away from the trunk module12, i.e., the first included angle α, thereby adjusting the distance between the two moving elements1311. That is to say, this structure can also adjust the center of gravity of the trunk module12in various landing forms, thereby increasing the variability of the robot. For example, from the posture inFIG.7to the posture inFIG.8, the telescopic mechanism13124is shortened, the first included angle α becomes smaller, the two moving elements1311approach each other, and the center of gravity of the trunk module12rises. From the posture inFIG.8to the posture inFIG.7, the telescopic mechanism13124stretches, the first included angle α becomes larger, the two moving elements1311are moved away from each other, and the center of gravity of the trunk module12is lowered.

It should be noted that the main function of the telescopic mechanism is to drive two moving elements closer or farther away through changes in length. Therefore, any structure that can realize the above function can be called the telescopic mechanism in the embodiments, such as a cylinder, a hydraulic cylinder, an electric push rod, etc.

In some embodiments, the second structural member13122and the third structural member13123are rotatably connected to the trunk module12through a same rotating shaft, and the third structural member13123is located between the second structural member13122and the trunk module12.

Referring toFIGS.7and8, the difference from the structure inFIG.5is that the fourth rotating shaft and the sixth rotating shaft are the same rotating shaft, that is, the second structural member13122and the third structural member13123are rotatably connected to the trunk module12through the same rotating shaft, saving parts and lowering the failure rate.

In some embodiments, referring toFIGS.9and10, the wheel frame includes a fourth structural member13125and a fifth structural member13126. One end of the fourth structural member13125is hinged to the trunk module12, and the other end of the fourth structural member13125is hinged to the fifth structural member13126. The fifth structural member13126is rotatably connected to the plurality of moving elements1311. The control system11adjusts the distance between the two moving elements1311and/or the included angle between the two moving elements1311through the fourth structural member13125and the fifth structural member13126. The two moving elements1311are arranged oppositely on both sides of the trunk module12, namely the moving element1311aand the moving element1311b.

Referring toFIGS.9and10, the wheel frame includes a fourth structural member13125and a fifth structural member13126. The fourth structural member13125has two connecting ends, and the fifth structural member13126has three connecting ends. The first connecting end of the fourth structural member13125is hinged to the trunk module12, so that the fourth structural member13125can rotate at any angle around the first connecting end relative to the trunk module12. Exemplarily, the first connecting end of the fourth structural member13125is ball hinged to the trunk module12. The second connecting end of the fourth structural member13125is hinged to the first connecting end of the fifth structural member13126, so that the fifth structural member13126can rotate at any angle around the second connecting end of the fourth structural member13125relative to the fourth structural member13125. Exemplarily, the second connecting end of the fourth structural member13125is ball hinged to the first connecting end of the fifth structural member13126. The second connecting end of the fifth structural member13126is rotatably connected to one of the moving elements through an eighth rotating shaft, and the third connecting end of the fifth structural member13126is rotatably connected to the other moving element through a ninth rotating shaft. The control system can adjust the distance between the two moving elements through the fourth structural member13125and the fifth structural member13126, as shown inFIGS.10and11. In one possible implementation, when switching from the posture inFIG.10to the posture inFIG.11, the control system11firstly controls the fourth structural member13125to lift up the moving element1311band the moving element1311a, then controls the fourth structural member13125to reduce the distance between the moving element1311band the moving element1311a, and then puts the moving element1311band the moving element1311adown to the landing state, thereby shortening the distance between the moving element1311band the moving element1311a. The adjusted posture is shown inFIG.11. The control system11can also adjust the included angle between the two moving elements through the fourth structural member13125and the fifth structural member13126. As shown inFIGS.10and12, the moving element1311aand the moving element1311bcan form a figure-eight shape by adjusting the degree of freedom between the fourth structural member13125and the fifth structural member13126, as shown inFIG.12. Of course, the control system11can also adjust only the moving element on one side to tilt toward or away from the moving element on the other side, to increase the postures of the robot.

The robot1according to the embodiments of the present application is described below with reference toFIGS.1and2. The robot1shown inFIGS.1and2is only one example, and should not bring any limitation to the functions and usage scope of the embodiments of the present application.

Referring toFIGS.13to19, further in the embodiments of the present application, the overall states of the robot1include at least a tipping state, a tilting state and a standing state. Here, the overall state in which the head-face assembly122of the robot1is in contact with the ground is defined as the tipping state, the tipping state in which the face1221of the robot1is in contact with the ground is defined as tipping forward (as shown inFIGS.13and14), and the tipping state in which the back of the head1222of the robot1is in contact with the ground is defined as tipping backward (as shown inFIGS.15and16). The state in which the head-face assembly122of the robot1is not in contact with the ground but has a tendency to tip over is defined as the tilting state (as shown inFIG.17). The state of the robot1except the tipping state and tilting state is defined as the standing state, the standing state in which all rollers of the robot1are in contact with the ground at the same time is defined as the four-wheel standing state (as shown inFIG.18), and the state in which only the driving wheels1313of the robot1are in contact with the ground at the same time is defined as the two-wheel standing state (FIG.19).

In combination withFIG.3andFIG.13toFIG.19, the robot1further includes a sensing system14that monitors the component posture and position state of the robot1, and the control system11obtains the overall status of the robot1according to the component posture and position state. When the overall state is the tipping or tilting state, the control system11controls the trunk module12to rotate relative to the leg module13and/or the moving element1311to rotate, so that the robot1balances autonomously. Optionally, in some embodiments of the present application, the sensing system14is provided on the leg assembly131and/or the head-face assembly122and/or the body assembly123.

It can be understood that the sensing system14is arranged so that the robot1can monitor the component posture and position state of the robot1through the sensing system14, that is, the sensing system14can monitor the action and posture of the robot1. As a result, the control system11can judge the stable state of the robot1according to the monitoring result of the sensing system14, and control the trunk module12to rotate relative to the leg module13and/or control the moving elements1311to rotate according to the current stable state of the robot1, so as to adjust the center of gravity and the action and posture of the robot1according to actual needs, thereby enabling the robot1to achieve the function of autonomous balance. Therefore, the sensing system14cooperates with the control system11to greatly improve the stability, flexibility and environmental adaptability of the robot1, further ensuring that the robot1can operate and act autonomously in more complex environments.

Further, the sensing system14includes an angle detection component143that detects a relative angle between the leg module13and the trunk module12, and the control system11obtains the component posture of the robot1according to the relative angle.

Further, the sensing system14includes a first sensing component141that monitors a positional relationship of the center of gravity of the robot1relative to the ground to obtain the position state of the robot1, and the control system11determines whether the robot1has a tendency to tip over according to the position state and the component posture. When the robot1has a tendency to tip over, the control system11controls the trunk module12to rotate relative to the leg module13and/or the moving element1311to rotate, so that the robot1generates torque in a direction opposite to a tipping direction to prevent the robot1from tipping over, thereby allowing the robot1to achieve the autonomous balance.

It can be understood that the first sensing component141can monitor the positional relationship of the center of gravity of the robot1relative to the ground to obtain the position state of the robot1, so that the control system11can know whether the robot1has a tendency to tip over, that is, the control system11can judge whether the current center of gravity of the robot1is stable based on the monitoring result of the first sensing component141. If the control system11judges that the current center of gravity of the robot1is unstable and a tipping problem may occur, the control system11can control the trunk module12to rotate relative to the leg module13to thereby generate torque in the opposite direction to the tipping direction of the robot1, to prevent the robot1from tipping over and thus enable the robot1to balance autonomously.

Further, the control system11can also determine whether the robot1is in the tipping state according to the position state and the component posture. When the robot1is in the tipping state, the control system11controls the trunk module12to rotate relative to the leg module13and/or the moving element1311to rotate, so as to enable the robot1to be in the standing state.

It can be understood that the control system11can also judge whether the robot1has been in the tipping state according to the monitoring result of the first sensing component141. If the control system11judges that the robot1has been currently in the tipping state, the control system11can control the trunk module12to rotate relative to the leg module13and/or the moving elements1311to rotate, thereby changing the action posture of the robot1, enabling the robot1to restore to the standing state, and further ensuring the autonomous balance ability of the robot1. It can be seen that the design of the first sensing component141in cooperation with the control system11can not only prevent the robot1from tipping over to make the robot1more stable, but also enable the robot1to restore to the standing state autonomously when the robot1has tipped over, thus effectively ensuring the stability, reliability and environmental adaptability of the robot1.

Further, the first sensing component141includes a trunk detection component1411, and the trunk detection component1411obtains the trunk position information by monitoring the positional relationship of the center of gravity of the head-face assembly122and/or the body assembly123relative to the ground, and transmits the trunk position information to the control system11.

Optionally, the control system11obtains the leg position information in two optional ways as follows. In the first way, the control system11obtains the leg position information through calculation according to the trunk position information and the component posture. In the second way, the first sensing component141further includes a leg detection component1412that obtains the leg position information by monitoring the positional relationship of the center of gravity of the leg module13relative to the ground and sends the leg position information to the control system11, so that the control system11directly obtains the leg position information.

Specifically, in some embodiments of the present application, the control system11obtains the leg position information in the first way. After obtaining the trunk position information and the leg position information, the control system11can analyze and obtain the position state of the robot1based on the trunk position information and the leg position information.

Further, the first sensing component141includes one or a combination of an inertial measurement unit, an acceleration sensor and an angular velocity sensor. The first sensing component141monitors the positional relationship of the center of gravity of the robot1relative to the leg module13and the ground by monitoring the acceleration and/or angular velocity of the robot1. When the control system11analyzes and then obtains the detection result of the first sensing component141and judges that the robot1tips over, the control system11controls the first action component121and/or the second action component1315to act, so that the robot1restores to the standing state.

Further, the sensing system14also includes a second sensing component142that monitors whether the moving element1311is idling, and the control system11judges whether the robot1tips over based on the monitoring result of the second sensing component142and the position state. When the robot1tips over, the control system11controls the trunk module12to rotate relative to the leg module13and/or the moving element1311to rotate, so that the robot1restores to the standing state.

It can be understood that the second sensing component142monitors whether the moving element1311is idling, and the control system11can judge whether the robot1has tipped over based on the monitoring result of the second sensing component142. If the control system11judges that the robot1has been currently in the tipping state, the control system11can control the trunk module12to rotate relative to the leg module13and/or the moving elements1311to rotate, thereby changing the action posture of the robot1, enabling the robot1to restore to the standing state, and further ensuring the autonomous balance ability of the robot1. It can be seen that the design of the second sensing component142in cooperation with the control system11can further ensure that the robot1can accurately detect the tipping state and thus adjust the overall action posture according to the current tipping state until the robot1restores to the standing state, further improving the autonomous balance ability and stability of the robot1.

Further, the second sensing component142includes an inertial sensor. The second sensing component142detects the inertial parameter of the driving wheel1313through the inertial sensor, and monitors whether the driving wheel1313is idling through the inertial parameter. Exemplarily, the inertial sensor detects the inertial parameter of the robot1in real time and feeds the inertial parameter back to the control system11. When the control system11detects that the received inertial parameter mutates and reaches a preset threshold, the control system11determines that the driving wheel1313of the robot1is idling. When the control system11analyzes and finds that the idling of the driving wheel1313is abnormal idling, the control system11determines that the robot1tips over, and then the control system11controls the first action component121and/or the second action component1315to act, so that the robot1restores to the standing state. It can be understood that abnormal idling means that the control system11detects that the driving wheel1313is idling when the control system11does not control the driving wheel1313to switch to the state of being lifted off the ground.

Furthermore, the control system11also judges whether the robot1has left the ground based on the detection result of the second sensing component142. Exemplarily, when the second sensing component142detects that all driving wheels1313of the robot1are idling, the control system11determines that the robot1has left the ground, and then the control system11controls the robot1to stop and try to restore to the standing state by changing the overall state of the robot1.

If the robot1tips over, the control system11firstly judges the tipping mode of the robot1, and then controls the robot1to restore to the standing state according to the tipping mode. The robot1has four tipping modes as follows.

Referring toFIG.20AtoFIG.20D, in the first mode, when the robot1tips forward from the two-wheel standing state, the process of restoring the robot1to the standing state is as follows: the first action component121rotates to simultaneously drive two wheel frames1312to rotate relative to the trunk module12, causing the center of gravity of the robot1to rise, and simultaneously reducing the distance between the head-face assembly122of the robot1and the driving wheel1313; then the second action component drives the driving wheel1313to acceleratedly rotate forward, and then the driving wheel1313will exert a backward force on the leg assembly131when the robot1acceleratedly moves forward, where this force can restore the robot1to the two-wheel standing state.

Referring toFIG.21AtoFIG.21C, in the second mode, when the robot1tips backward from the two-wheel standing state, the process of restoring the robot1to the standing state is as follows: the first action component121rotates to drive the trunk module12to rotate toward the driving wheel1313relative to the wheel frame1312, until the robot1restores to the four-wheel standing state.

Referring toFIG.22AtoFIG.22C, in the third mode, when the robot1tips forward from the four-wheel standing state, the first action component121firstly rotates to drive the trunk module12to rotate toward the driving wheel1313relative to the wheel frame1312, and in addition, the second action component1315rotates to drive the driving wheel1313to rotate backward until the head-face assembly122moves above the driving wheel1313; and then the first action component121rotates to drive the trunk module12to rotate toward the driven wheel1314relative to the wheel frame1312, until the robot1restores to the two-wheel standing state.

Referring toFIG.23AtoFIG.23D, in the fourth mode, when the robot1tips backward from the four-wheel standing state, the first action component121firstly rotates to drive the trunk module12to rotate toward the driven wheel1314relative to the wheel frame1312, until the driving wheel1313and the driven wheel1314touch the ground at the same time. Then the first action component121drives the trunk module12to rotate toward the driving wheel1313relative to the wheel frame1312, until the robot1restores to the four-wheel standing state.

Referring toFIG.24AtoFIG.24D, the process of transforming the robot1from the four-wheel standing state to the two-wheel standing state is as follows: the first action component121rotates to drive the trunk module12rotate toward the driven wheel1314relative to the wheel frame1312, and in addition, the second action component1315rotates to drive the driving wheel1313to rotate forward, until the robot1changes to the two-wheel standing state.

The robot provided in the embodiments of the present application includes a control system, a trunk module and a leg module connected to the trunk module. The control system can control at least one moving element to switch between the state of being lifted off the ground and the state of being in contact with the ground, so as to change the overall state of the robot and make the actions of the robot more flexible and changeable. For example, when all the moving elements are in contact with the ground, the robot is in a prone position, like a cute pet with all feet on the ground; when some of the moving elements are lifted off the ground, the robot is in the standing state, like a cute pet with some feet standing and some feet lifted. The actions of the robot are more flexible and richer, providing basic conditions for the in-depth advancement of human-computer interaction. Moreover, the design that the control system can control at least one moving element to switch between the state of being lifted off the ground and the state of being in contact with the ground enables the robot to adapt to more complex environments. For example, the robot can control some of the moving elements to be lifted off the ground to bypass obstacles; or when the robot has a tendency to tilt, the moving elements that are lifted off the ground are switched to the state of being in contact with the ground, to prevent the robot from tipping over. As can be seen, the design that the control system can control at least one moving element to switch between the state of being lifted off the ground and the state of being in contact with the ground greatly improves the flexibility, adaptability and reliability of the actions of the robot.

In the robot provided in the embodiments of the present application, the arrangement of the first action component with the output end drivingly connected to the leg module enables the leg module to move relative to the trunk module, so that the robot can realize the function that the trunk module and the leg module can move separately or only one of the two modules moves as needed, thereby further effectively improving the flexibility of the movement and action of the robot and the adaptability of the robot to the environment, and also further enhancing the expressiveness of the robot, and making the robot more in line with the bionic requirement.

In the robot provided in the embodiments of the present application, the design of arranging at least two leg assemblies on opposite sides of the trunk module makes the robot easier to maintain balance and stability, further improving the robot's adaptability to different terrains. Moreover, the design of the leg assemblies arranged on opposite sides of the trunk module allows the center of gravity of the trunk module to be relatively closer to the ground, thus reducing the height of the overall center of gravity of the robot, further improving the stability of the robot and making it less likely to tip over, and thereby further improving the robot's adaptability to the environment.

The robot provided in the embodiments of the present application is provided with a wheel frame connected to a plurality of moving elements, so that the control system can control the rotation of the wheel frame relative to the trunk module to switch the moving elements between the state of being lifted off the ground and the state of being in contact with the ground, thereby changing the overall state of the robot. The design of the wheel frame allows a plurality of moving elements in the same leg assembly to move in association, thereby enriching the actions of the robot. For example, some moving elements on one leg assembly in contact with the ground support other moving elements to lift off the ground, so that the robot can complete the action that some of the moving elements are in the state of being in contact with the ground and some of the moving elements are in the state of being lifted off the ground. Moreover, the way of connecting a plurality of moving elements in one leg assembly through the wheel frame facilitates the synchronous movement of the plurality of moving elements, thereby further improving the movement stability of the robot. It can be seen that the arrangement of the wheel frame further improves the richness and stability of the actions of the robot.

In the robot provided in the embodiments of the present application, the wheel frame is designed with a plurality of connecting sections that can move relatively through a joint, so that the action modes between the wheel frame and the moving elements on the wheel frame are more diverse, that is, the actions of the leg assemblies are more flexible and changeable. For example, the robot can support the trunk module and other leg assemblies through the joint in contact with the ground. Moreover, the connecting sections are movably connected through the joint, so that the center of gravity of the robot can also be adjusted through the relative movement between the connecting sections when the robot moves on uneven ground or the center of gravity is unstable, thereby making the stability of the robot higher.

In the robot provided in the embodiments of the present application, the design of arranging two leg assemblies and arranging a plurality of moving elements at opposite ends of each leg assembly further ensures the symmetry of the overall design of the robot and thus ensures that the center of gravity of the robot is relatively centered relative to the two leg assemblies, so that the overall stability of the robot is higher, thereby also enabling the robot to stably implement more relatively complex actions, and also enabling the robot to extend at a relatively larger angle during action, thus further improving the flexibility and richness of actions of the robot. Moreover, the design of the plurality of moving elements arranged at opposite ends of each leg assembly ensures that each leg assembly can achieve the action that one end is in contact with the ground while the other end lifts off the ground, thus further ensuring the action diversity of the robot.

In the robot provided in the embodiments of the present application, the design that at least one of the two first moving elements is a driving wheel enables the robot to move under the drive of the first leg assembly. Moreover, the design that at least one of the two second moving elements is a driving wheel enables the robot to also move under the drive of the second leg assembly, thereby ensuring the movement flexibility of the robot.

In the robot provided in the embodiments of the present application, the design of arranging a plurality of output ends and drivingly connecting each output end to one corresponding wheel frame ensures that each wheel frame can rotate relative to the trunk module under the drive of the output end, thereby further improving the action flexibility of the robot. When the plurality of output ends are driven by the same driving member at the same time, a plurality of wheel frames can act synchronously, so as to implement actions such as the same ends of the plurality of wheel frames are in contact with the ground at the same time and the other ends thereof are lifted off the ground at the same time. When the plurality of output ends are driven by a plurality of driving members respectively, the plurality of wheel frames can also act autonomously, so as to implement actions such as one end of only one wheel frame is in contact with the ground and the other end thereof is lifted off the ground while both ends of other wheel frames are in contact with the ground. Further, corresponding to the two leg assemblies, the design of arranging output ends driven by two driving members respectively ensures that both of the two leg assemblies can act autonomously under the drive of the output ends, further improving the flexibility of the robot's actions and simultaneously making the bionic effect of the robot better.

In the robot provided in the embodiments of the present application, the sensing system is provided so that the robot can monitor the positional relationship of the center of gravity of the robot relative to the leg module and the ground through the sensing system, and/or the robot can detect the rotation state of the moving element through the sensing system, that is, the sensing system can monitor the action and posture of the robot. As a result, the control system can judge the stable state of the robot according to the monitoring result of the sensing system, and control the trunk module to rotate relative to the leg module and/or control the moving elements to rotate according to the current stable state of the robot, so as to adjust the center of gravity and the action and posture of the robot according to actual needs, thereby enabling the robot to achieve the function of autonomous balance. Therefore, the sensing system cooperates with the control system to greatly improve the stability, flexibility and environmental adaptability of the robot, further ensuring that the robot can operate and act autonomously in more complex environments.

In the robot provided in the embodiments of the present application, the first sensing component can monitor the positional relationship of the center of gravity of the robot relative to the leg module and the ground, so that the control system can know whether the robot has a tendency to tip over, that is, the control system can judge whether the current center of gravity of the robot is stable based on the monitoring result of the first sensing component. If the control system judges that the current center of gravity of the robot is unstable and a tipping problem may occur, the control system can control the trunk module to rotate relative to the leg module to thereby generate torque in the opposite direction to the tipping direction of the robot, to prevent the robot from tipping over and thus enable the robot to balance autonomously. Moreover, the control system can also judge whether the robot has been in the tipping state according to the monitoring result of the first sensing component. If the control system judges that the robot has been currently in the tipping state, the control system can control the trunk module to rotate relative to the leg module and/or the moving elements to rotate, thereby changing the action posture of the robot, enabling the robot to restore to the standing state, and further ensuring the autonomous balance ability of the robot. It can be seen that the design of the first sensing component in cooperation with the control system can not only prevent the robot from tipping over to make the robot more stable, but also enable the robot to restore to the standing state autonomously when the robot has tipped over, thus effectively ensuring the stability, reliability and environmental adaptability of the robot.

In the robot provided in the embodiments of the present application, the body assembly connects the head-face assembly with the leg module, and the rotation of the body assembly relative to the leg module drives the rotation of the head-face assembly relative to the leg module, so that the head-face assembly of the robot can rotate relative to the leg module through the rotation of the body assembly, further improving the richness and flexibility of the actions of the robot, and simultaneously making the bionic effect of the robot better.

It should be noted that the “ground” or “floor” in the present application refers to the working contact surface of the moving element in the usual sense, and is called the ground for convenience only, but not necessarily limited to the floor, and may also be a vertical wall or an inverted top or other working surface on which moving elements can move.

The above description is only preferred embodiments of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements and others made within the principle of the present application are all contained in the protection scope of the present application.