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159results about How to "Improve walking stability" patented technology
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Special lower limb exoskeleton for hemiplegic patient, using method thereof and stability validation method
InactiveCN104825311AImproves gait stabilityGuaranteed Simulation AccuracyChiropractic devicesWalking aidsThighValidation methods
The invention discloses a special lower limb exoskeleton for a hemiplegic patient. The special lower limb exoskeleton for the hemiplegic patient comprises a one-sided exoskeleton leg, a supporting rod mechanism, a controller and a battery, wherein the one-sided exoskeleton leg comprises a thigh rod, a shank rod, a sole boot, a hip joint, a knee joint and an ankle joint; the supporting rod mechanism comprises a supporting rod and a telescopic rod; the thigh rod is connected with the supporting rod through the hip joint; a hip joint driving motor, a knee joint driving motor and a telescopic rod driving motor are sequentially arranged on the supporting rod from top to bottom; the hip joint driving motor is connected with the hip joint by a hip joint worm gear; the knee joint driving motor is connected with the middle part of the shank rod by a knee joint worm gear and a knee joint swinging rod; an ankle joint shock absorber is arranged between the ankle joint and the knee joint; the telescopic rod driving motor is connected with the telescopic rod by a lead screw drive structure; the controller and the battery are arranged on the supporting rod. The special lower limb exoskeleton for the hemiplegic patient has the advantages that by aiming at a unilateral lower limb hemiplegic patient, the functions of the healthy side body of the patient are fully played, and the special lower limb exoskeleton assists the patient in walking on the flat ground and walking up and down stairs; the reliability is improved, and the cost is reduced.
Owner:TAIZHOU UNIV
Biped walking robot
ActiveUS8565921B2Improve walking stabilityPrevent fallingProgramme-controlled manipulatorComputer controlEngineeringGravitation
Provided is a method for determining a grounding timing of a biped walking robot. Firstly, a ZMP equation which represents a trajectory of a center of gravity including a first single-leg grounded period in which the robot stands only with a first leg and a second single-leg grounded period in which the robot stands only with a second leg, following the first single-leg grounded period, is solved using a predetermined grounding timing. A second leg ZMP position representing a ZMP position in the second single-leg grounded period is then calculated. When the calculated second leg ZMP position is out of the second leg ZMP permissible area, the grounding timing is modified so that the second leg ZMP position is located in a second leg ZMP permissible area which is defined corresponding to a possible grounding area of the second leg.
Owner:TOYOTA JIDOSHA KK
Garlic and peanut digging machine
InactiveCN101053298ACompact structureGood line of sightDiggersEndless track vehiclesPulp and paper industryAllium sativum
A garlic or peanut digging machine comprises track type dragging main body walking portion, digging portion, screening and transmitting portion, reel, depth-limiting portion, hydraulic lifting controlling portion, machine stand folding portion and cab controlling portion. The present invention of garlic or peanut digging machine resolves the problem of the demanding operating environment for digging machine, and resolves previous the difficulty for digging turning and digging depth-limiting, crop-damaging, single use of machine, lower environmental adaptability at the same time.
Owner:江友文
Biped walking mobile system, its walk controller, and walk control method therefor
InactiveUS6992456B2Improve walking stabilityDefects can be eliminatedProgramme-controlled manipulatorComputer controlPower modeEngineering
Owner:JAPAN SCI & TECH CORP
Footwear for walking or running with rolling action
A footwear sole assembly (10) for walking with a rolling action is described. An elastically compressible midsole element (33) is provided with a rolling element (40) situated in and extending over a portion of the length and over at least a portion of the width of the midsole element (33). The rolling element (40) consists at least partially of a resilient material and is disposed at least in that region of the midsole (33) which is opposite to the arch of the wearer's foot. This shoe offers the rolling gait advantages of the well known MBT shoe, but has a different construction which enables it to retain the outward appearance of conventional shoes such as trainers.
Owner:XELERO TECH
Walking robot and method of controlling the same
ActiveUS20090308668A1Improve walking stabilityEliminate distractionsProgramme-controlled manipulatorRobotEngineeringImpedance control
Disclosed are a walking robot and a method of controlling the same, in which impedance control and torso tilt control are achieved complementarily such that impedance can be adjusted according to the tilt of a torso or the tilt of the torso can be adjusted according to the impedance. The method includes measuring a moment of a foot; measuring a tilt of a torso; adjusting the scale of the measured moment based on the tilt of the torso, and controlling the foot based on the scale-adjusted moment; and adjusting the scale of the measured tilt based on a ZMP variation amount of the foot, and controlling the tilt of the torso based on the scale-adjusted ZMP variation amount.
Owner:SAMSUNG ELECTRONICS CO LTD
Amphibious caterpillar crane
InactiveCN101475127AOperational securityEasy to operateAmphibious vehiclesEndless track vehiclesWind fieldEngineering
The invention discloses an amphibious crawler crane, which comprises a loading turntable, a chassis, a floating-assisted device and a running device. The loading turntable comprises a lifting device, a turning device, a power device, a transmission device and a control device; the chassis is used for bearing the loading turntable; the floating-assisted device is connected with the chassis, wherein power of the power device is output to the transmission device and output to actuating mechanisms through the transmission device, namely the running device and the lifting device; and the running device comprises a crawler mechanism and an upright post telescoping mechanism, and the upright post telescoping mechanism is arranged between the chassis and the crawler mechanism so as to adjust the height of the chassis. By adopting the crawler running mechanism, the amphibious crawler crane is easy to complete displacement and steering operation of the whole crane, and has low ground pressure so as to improve the construction efficiency of offshore beach wind fields; in addition, the upright post telescoping mechanism is arranged between the chassis and the crawler mechanism, so the amphibious crawler crane can adjust the height of the chassis according to the depth of seawater so as to avoid shock of ocean waves, and has the advantage of safe and reliable operation.
Owner:SANY ELECTRIC CO LTD
Method and apparatus for controlling a walking assistance apparatus
ActiveUS20160101515A1Improve walking stabilityProgramme-controlled manipulatorChiropractic devicesKnee JointEngineering
A method and apparatus for controlling a walking assistance apparatus are provided. The apparatus may include a detector configured to detect a first step of a user, based on measured right and left hip joint angle information, a reconstructor unit configured to reconstruct knee joint information matched to the right and left hip joint angle information based on knee joint trajectory information in response to the user's steps, and a torque generator configured to generate a first torque applied to a first leg corresponding to the first step. The torque generator may generate the first torque, based on a second torque applied to a second leg that is opposite to the first leg and that corresponds to a second step preceding the first step.
Owner:SAMSUNG ELECTRONICS CO LTD
Crawler-type self-walking lotus root harvesting machine and method
ActiveCN105917838AChange the problem of difficult transportationWon't hurtDigger harvestersHydraulic motorMarine engineering
The invention relates to a crawler-type self-walking lotus root harvesting machine and method. The technical scheme of the crawler-type self-walking lotus root harvesting machine is characterized in that a crawler-type walking device is arranged on the outer side of a ship body, a hydraulic motor is arranged at the tail portion of the ship body, the lower side of the tail portion of the ship body is connected with a water collecting device, a pressure adjusting and distributing device is arranged at the head of the ship body, the other side of the ship body is connected with a gun head installing rod, an indexing adjusting high-pressure gun head is arranged on the gun head installing rod through a gun body swinging device, a power transmitting device is arranged on the front side in the ship body, a power device and a high-pressure water supplying device are arranged on the rear side in the ship body, and a hydraulic lifting system is arranged on the ship body. The crawler-type self-walking lotus root harvesting machine has the advantages of being high in lotus root digging efficiency, good in passing ability and suitable for a plurality of road situations, completely reaching barrier-free pass, daring to walk on abrupt slops, also serving as a transporting tool, solving the problem of transporting difficulty in lotus root pools, being suitable for a plurality of water areas with a depth of 15 centimeters or above, only waking on the upper surfaces of lotus roots without damaging the lotus roots and avoiding a situation that the quality of the lotus roots declines due to abrasion.
Owner:徐州嘉农农业发展有限公司
Cobalt crust mining articulated crawler walking device
The invention discloses a cobalt crust mining articulated crawler walking device. A front crawler vehicle (3) is connected with a back crawler vehicle (4) by an articulating device (2) with multiple freedom degrees; and the articulating device (2) generates the pitching movement around z axis, the turning movement around y axis and the overturning movement around x axis between the front crawler vehicle (3) and a back crawler vehicle (1). The scheme of the cobalt crust mining articulated crawler walking device improves the adhesive attraction, the obstacle detouring ability, the walk stability, the flexibility and the passing ability of the vehicle body. Meanwhile, the articulating device has reliable structure, and is convenient in loading and unloading; and the articulated crawler walking device can be changed into two independent crawler vehicles as required.
Owner:CENT SOUTH UNIV
Modularization sheep foot simulation mechanical foot device
The invention discloses a modularization sheep foot simulation mechanical foot device which comprises an interface shell, a foot installation plate, plugging mechanisms and foot mechanisms. The interface shell is internally provided with a connection block. A plugging hole is formed in the connection block in the vertical direction, the top face of the foot installation plate is provided with a plugging shaft, and the bottom face of the foot installation plate is used for installation of the foot mechanisms. The plugging shaft penetrates into the plugging hole, due to the fact that the two sets of plugging mechanisms sequentially penetrate through the connection block from the two sides of the interface shell and the end of each plugging mechanism can be located in the plugging shaft, positioning between the interface shell and the foot installation plate is achieved. Detaching between the interface shell and the foot installation plate is achieved by pulling the plugging mechanisms. The foot mechanisms are designed by simulating the sheep feet and are connected with a left hoof section and a right hoof section through two branch chains respectively. Each branch chain is provided with a buffering and energy storing spring to achieve vibration reducing and energy storing. The modularization sheep foot simulation mechanical foot device has the advantages that fast replacing between the foot mechanisms and legs of a robot can be achieved, and the modularization sheep foot simulation mechanical foot device is suitable for leg type and wheel leg type robots to walk on complicated grounds in the open gas.
Owner:BEIHANG UNIV
Biped robot sole structure with rapid shock absorption and road surface adaptability
The invention relates to a biped robot sole structure with rapid shock absorption and road surface adaptability. The mechanism can effectively improve the shock absorption and buffer capacity of feetof a humanoid robot and improve the adaptability of the robot to uneven road surfaces. The sole mechanism comprises a retainer used for installation and playing a supporting role, a longitudinal archmechanism and a transverse arch mechanism which are connected with the retainer, and an inner side forefoot module, an outer side forefoot module, an inner side heel module and an outer side heel module which are connected with the arch mechanism. The rapid shock absorption and road surface adaptation sole mechanism for the flat plate foot of the humanoid robot is suitable for meeting the requirements of various humanoid robots with the flat plate foot as a main sole structure for quick shock absorption and uneven road surface adaptation.
Owner:ZHEJIANG LAB
Four-legged bionic robot platform based on biological characteristics
ActiveCN108927796AImprove adaptabilityImprove anti-interference abilityProgramme-controlled manipulatorJointsTerrainAnti jamming
The invention discloses a four-legged bionic robot platform based on biological characteristics. The four-legged bionic robot platform comprises a trunk and four lower limbs. The four lower limbs areevenly and symmetrically distributed at the four corners of the lower portion of the trunk, and the structures of the four lower limbs are identical. The trunk comprises four driving units, a trunk bottom plate used for supporting the driving units, a depth visual apparatus and a laser radar. The lower limbs comprise ankle joints, foot soles and leg parts. The upper ends of the leg parts are fixedly connected with the driving units, and the lower ends of the leg parts are rotatably connected with the upper ends of the ankle joints. The lower ends of the ankle joints are rotatably connected with the upper ends of the foot soles. According to the four-legged bionic robot platform, the adaptability and anti-jamming ability of a bionic leg-foot-type robot to different terrains can be improved,the stability and reliability of making contact with the ground are enhanced, a robot deep vision technology is fused to make a reasonable path plan on the travelling track of the robot, a laser radar technology is fused to further enhance the interaction ability between the robot and the environment, the mechanical complexity of the trunk and the lower limbs is simplified, the control difficultyis lowered, and the control accuracy is improved.
Owner:CHANGAN UNIV
Biped robot with variable-rigidity ankle joints
A biped robot with variable-rigidity ankle joints comprises a left leg, a right leg and a pelvis. The left leg and the right leg comprise thighs, shanks and feet respectively, the pelvis is connectedwith the thighs through hip joints, the thighs are connected with the shanks through knee joints, the shanks are connected with the feet through the ankle joints, and the left leg and the right leg are connected through the pelvis; each ankle joint comprises an ankle joint driving motor, an ankle joint transmission gear pair, a rotating crank, an ankle joint rotating shaft and a passive exhaust variable rigidity mechanism; the passive exhaust variable rigidity mechanism comprises an air cylinder and a connecting piece; and a connecting piece is installed at an end of a piston rod of the air cylinder, the ankle joint driving motor is installed on each thigh, the rotating crank is rotatably installed on the knee joint rotating shaft, the ankle joint driving motor drives the rotating crank torotate around the knee joint rotating shaft through the ankle joint transmission gear pair, and a cylinder body of the air cylinder is rotatably connected with the feet. Walking movement in a two-dimensional plane can be achieved, and walking stability of the biped robot and an adaptability of the biped robot to uneven ground are improved.
Owner:HARBIN INST OF TECH
Photovoltaic module cleaning device and cleaning method thereof
ActiveCN105598114ARealize segmented cleaningImprove cleaning efficiencyPhotovoltaicsDirt cleaningDrive wheelElectric machine
Owner:CECEP SOLAR ENERGY TECH
Walking device of inspection robot
PendingCN110370247AEasy to moveDrive compactManipulatorApparatus for overhead lines/cablesDrive wheelDrive shaft
The invention discloses a walking device of an inspection robot, relates to the technical field of inspection robots and comprises a moving frame, wherein a double-shaft motor is fixed on the moving frame, two connecting plates are vertically fixed on the moving frame, a driven rotating wheel and a driving rotating wheel which are used for clamping a cable up and down are arranged on each connecting plate, a lifting assembly used for adjusting the longitudinal position of a driven shaft is arranged on each connecting plate, and a limiting mechanism is connected between each driven rotating wheel and each driving rotating wheel; and according to the invention, the driving wheel can be driven to rotate by the arranged driving mechanism, the driving wheel and the cable are in friction transmission to realize that the device moves along the cable, the arranged driven wheel and the driving wheel clamp the cable through the lifting assembly to realize the stable movement of the device, and the arranged limiting mechanism can limit the driven wheel and the driving wheel in the direction orthogonal to the walking direction, so that the tight transmission of the driving wheel and the cableis ensured, and the walking stability of the inspection robot is greatly improved.
Owner:包头长安永磁电机有限公司
Upper body-halving walking device
ActiveCN105905183AAchieving lateral walkingAchieve gravity balanceVehiclesEngineeringUpper body part
Owner:深圳市行者机器人技术有限公司
Energy recovery device and method for leg shock absorbing mechanism of field foot-type robot
InactiveCN107370328AReduce weightImprove walking stabilityBatteries circuit arrangementsElectric powerEngineeringEnergy recovery
The invention relates to an energy recovery device and method for a leg shock absorbing mechanism of a field foot-type robot. The energy recovery device comprises a linear generator stator core and a linear generator rotor hollow shaft, and is characterized in that the linear generator rotor hollow shaft is installed in an inner cavity of the linear generator stator core, a winding coil is wound at the inner surface of the linear generator stator core, the outer wall of the linear generator rotor hollow shaft is provided with a hollow cylindrical permanent magnet, and the linear motor rotor hollow shaft is connected with a joint driving and connecting mechanism and an electric energy storage unit. According to the invention, an electromechanical integration design is adopted to reduce the weight of a mobile robot as far as possible while increasing the energy recovery device, electric energy is generated by adopting relative movements of a stator and a rotor in the axial direction according to a mechanism principle of a linear generator, and the mechanism is embedded into a leg of the robot. The kinetic energy in walking can be stored by two springs through elastic potential energy and is then converted into electric energy. Meanwhile, the walking steady performance of the robot can be improved.
Owner:XI AN JIAOTONG UNIV
Footwear for walking or running with rolling action
Owner:XELERO TECH
Foot-type robot terrain perception method based on virtual sensor
ActiveCN111260057AImprove walking stabilityImprove terrain adaptabilityCurrent/voltage measurementEarth material testingGround contactSimulation
A foot-type robot terrain perception method based on a virtual sensor belongs to the field of robot perception, and comprises the following steps: S1, establishing a ground contact detection neural network model and a soil classification machine learning model; S2, under the conditions of different terrains and different gaits, collecting the angle of a leg joint, the angular speed of the leg joint, the motor current and the contact force data of the leg and the ground of the foot-type robot as samples; S3, training a ground contact detection neural network model and a soil classification machine learning model by using the samples collected in the S2; and S4, taking the ground contact detection neural network model and the soil classification machine learning model trained in the S3 as aterrain perception system of the foot-type robot for terrain perception. According to the method, the walking stability and the movement capacity of the robot can be improved, and meanwhile the robustness of the robot and the reliability of behaviors of the robot are enhanced; in addition, hardware of the robot is simplified, and the design, machining and maintenance cost is reduced.
Owner:BEIJING INST OF SPACECRAFT SYST ENG
Electric-driven steering chassis
PendingCN108556912AAchieve rotationSteering coordination is goodElectrodynamic brake systemsSteering linkagesVehicle frameElectric drive
The invention provides an electric-driven steering chassis. The electric-driven steering chassis is capable of guaranteeing the coordinated rotation angles of front and rear vehicle frames, wherein aradius of turning circle is small, realizing the steering and walking of the chassis through a revolving speed difference of left and right vehicle wheels, and improving the stability and a steering response speed of the chassis in a walking process. The electric-driven steering chassis comprises the chassis, the front vehicle frame, the rear vehicle frame, and a controller. Two ends of the frontvehicle frame are provided with left and right front wheels, and two ends of the rear vehicle frame are provided with left and right rear wheels. The left and right front wheels are the front wheels driven by two front hub motors. The controller used for controlling the left and right front hub motors is electrically connected with the front hub motors. The front vehicle frame, the rear vehicle frame and the chassis are rotatably connected by using a vertical front and back axis as a center line. Two ends of a first steering push-pull rod are hinged with a left front connecting base and a right rear connecting base, or hinged with a right front connecting base and a left rear connecting base.
Owner:NANTONG GUANGYI ELECTROMECHANICAL CO LTD
Mould dismounting machine of screw rod drilling tool
InactiveCN104607918APrevent swayingSave human effortDrilling rodsMetal working apparatusStable stateEngineering
A screw drill mold-stripping machine comprising a main bed body (1), a fixing clamp (3) fixed thereon, a movable clamp (4) movably connected onto the main bed body, a pullout bed body (2) fixedly connected to the main bed body, a puller (5) arranged on the pullout bed body, a support frame (6) supporting the puller and a petroleum pipe workpiece, and supporting trolleys (7) supporting a workpiece holding a pipe. A chain drive mechanism is arranged on the puller and on the movable clamp. An adjusting mechanism is arranged on a running wheel set of the puller. The mold-stripping machine saves manpower, increases operational efficiency, and, during a pullout process, adjusts the puller to a stable state.
Owner:TIANJIN GENERAL PRINCIPLE MACHINERY NEW TECH
Spherical robot
ActiveCN109015667AImprove obstacle performanceImprove walking stabilityManipulatorVehiclesMoment of inertiaFlywheel
The invention provides a spherical robot comprising a spherical shell, a first driving piece, a transmission rod and one or more sets of flywheel assemblies, wherein the first driving piece, the transmission rod and the flywheel assemblies are located in the spherical shell. The first driving piece is used for driving the transmission rod to rotate around the axis so as to drive the spherical shell to rotate. The flywheel assemblies comprise first flywheels and second flywheels. When the spherical robot is subjected to interference torque, procession moment is output by controlling reverse synchronous deflection of the first flywheels and the second flywheels so as to overcome the interference torque. Deflection shafts of the first flywheels and deflection shafts of the second flywheels are perpendicular to a connecting rod and the axis, through the layout mode, the radiuses of both the first flywheels and the second flywheels are increased greatly, in this way, rotational inertia of the flywheels can be increased, thus the procession moment of the flywheel assemblies is increased, and thee obstacle crossing ability and travelling stability of the spherical robot are further improved.
Owner:坎德拉(深圳)软件科技有限公司
Foot structure of biped robot and all-terrain pavement adaptation method thereof
ActiveCN111267993AGuaranteed shock absorptionGuaranteed forceVehiclesGround contactPhysical medicine and rehabilitation
The invention relates to a foot structure of a biped robot and an all-terrain pavement adaptation method thereof. When the biped robot adopting the foot structure walks on a non-flat road surface, active adaptation can be conducted according to the actual terrain of the road surface, the corresponding posture is adjusted in time, the standing and walking stability of the biped robot is rapidly andeffectively improved, and the problems, for example, that when the biped robot walks on the uneven road surface, the foot ground contact area is small, and overall balance is difficult to maintain are solved. According to the all-terrain road surface adaptive foot structure, the foot bottom is divided into four areas, and the four areas are independently stressed and deformed, so the foot of therobot is kept in good contact with the ground on the uneven road surface; and meanwhile, the situation that the foot touches the ground is obtained through the force measuring sensors distributed in the four areas of the foot, the actual topographic distribution of the foot is speculated according to the situation, related joints of the robot are driven to be adjusted, and active adaptation of thefoot and the overall posture of the robot to the uneven road surface is completed.
Owner:ZHEJIANG LAB
Flexible bionic mechanical leg
The invention discloses a flexible bionic mechanical leg which comprises a shank rod, an ankle assembly and a palm assembly, wherein the ankle assembly comprises a connecting upper plate, an ankle housing and at least one ankle elastic body; the palm assembly comprises a rear palm, a front palm, a connecting frame for the front palm and the rear palm, and a front palm protective shell; the angle elastic body comprises an upper spring seat, a cylindrical spring, a front four-bar mechanism, a rear four-bar mechanism, a lower spring seat, a first spring supporting pin and a second spring supporting pin. According to the mechanical leg, the front palm and the rear palm are elastically connected to form the palm; the front palm has certain rotation space and flexibility, and can better adapt to changes of ground terrain. The angle elastic body adopts two four-bar mechanisms, so that the cylindrical spring with elasticity in single direction is changed into a flexible special mechanism with flexibility on four corners of each four-bar mechanisms, and therefore, the flexibility of the mechanical foot is greatly strengthened, and the travelling stability of the robot is strengthened.
Owner:HEBEI UNIV OF TECH
Industrial vehicle capable of traveling in four directions and traveling mechanism of industrial vehicle
The invention relates to an industrial vehicle transporter, in particular to an industrial vehicle capable of traveling in four directions and a traveling mechanism of the industrial vehicle. According to the technical scheme, the traveling mechanism of the industrial vehicle capable of traveling in the four directions comprises four wheel sets arranged at the bottom of a vehicle body, and the four wheel sets can form a quadrangle through sequential connection. One wheel set is a steering wheel set. Another wheel set is a reversing directional wheel set, and the axial direction of wheels of the wheel set can be switched between two directions through the rotating movements of the wheel sets. The other two wheel sets are state changeable wheel sets, and the states of wheels of the two wheel sets can be switched between the directional state and the follow-up universal directions. The traveling mechanism of the industrial vehicle is simple in structure, low in cost and beneficial for improving the application range of the industrial vehicle and improving use efficiency and maneuverability, and has good supporting stability.
Owner:NOBLEELEVATOR INTELLIGENT EQUIP CO LTD
Vehicle knapping machine
ActiveCN104234710ATo achieve the purpose of splitting and cuttingSave resourcesPropulsionStone-like material working toolsVehicle frameGravity center
The invention relates to a vehicle knapping machine which comprises a motor vehicle assembly, a universal mechanism, a pushing mechanism, knapping machines and a pressure station, wherein the pushing mechanism is hung at the lower side of a vehicle frame of the motor vehicle assembly by the universal mechanism; the heights, whole gradients and feeding angles of the knapping machines which are arranged in parallel are respectively adjusted by a driving rod in the universal mechanism. According to the vehicle knapping machine, the pushing mechanism is hung at the lower side of the vehicle frame by the universal mechanism and can be lifted for adjustment, so that the knapping machines are close to the ground for operation, and the aims of cleaving and carving the bottom of rock can be realized; the vehicle knapping machine is compact in whole structure, low in center of gravity and good in walking stability; the plurality of knapping machines which are arranged in parallel are driven to synchronously go forward by a pushing cylinder, so that the efficiency is high, and the labor and the time are reduced; the vehicle knapping machine is especially suitable for mine stone exploitation and cleaving the base of the cut sectional material.
Owner:FUJIAN PROVINCE HUALONG MACHINERY
Gait planning method for improving crawling stability of dinosaur as biosimulation machine
The invention discloses a gait planning method for improving the crawling stability of dinosaur as a biosimulation machine. The gait planning method for an advance crawling gait period comprises the following steps of: squatting; leaning a body rightwards and swaying the tail rightwards; moving a left front leg; moving a left rear leg; leaning a body leftwards and swaying the tail leftwards; moving a right rear leg; moving a right front leg; and leaning the body rightwards, wherein the whole gravity center is positioned in a quadrilateral area formed by corresponding footholds. According to the gait planning method disclosed by the invention, the crawling gait is re-planned by fully considering the factors of large size, heavy weight, more dispersion in distribution and heavier weights of legs, a head and a tail in a large-size quadruped biosimulation machine, namely the dinosaur, so that the foundation is provided for improving the walking stability of the large-size quadruped biosimulation machine, namely the dinosaur.
Owner:大连楚云天科技开发有限公司
Method for distributing foot end force of foot robot based on optimized support ratio
ActiveCN105608268AImprove walking stabilityGood effectGeometric CADSpecial data processing applicationsLegged robotEngineering
The present invention relates to a method for distributing foot end force of a foot robot based on an optimized support ratio, and belongs to the technical field of foot force distribution optimization of robots. The method disclosed by the present invention comprises that: (1) when analyzing a vertical load, optimization distribution on the support ratio is directly carried out, and since one of important objectives of foot end force distribution of a multi-legged robot is stability of walking, so that the method disclosed by the present invention firstly carries out optimization on the support ratio to firstly ensure the stability of walking; (2) in the case of ensuring the stability of walking, force in a horizontal direction is continuously analyzed, optimization on the force direction is directly carried out, and since an optimization objective in a conventional method is a minimum total moment or minimum power consumption, and the optimization objective cannot ensure optimal foot end force, so that the method directs at optimization of the foot end force and the direction thereof to ensure an optimal result from a higher level; and (3) when carrying out force distribution, a foot end position in each step is taken into account, so that features of force and moment balance are made full use to further ensure the optimization result.
Owner:CHINA NORTH VEHICLE RES INST
Stability control method for rbiomimetic obosaur crawling
InactiveCN102799184AImprove walking stabilityAdaptive controlPosition/course control in two dimensionsSacroiliac jointTransformation matrix
The invention discloses a stability control method for rbiomimetic obosaur crawling, comprising the following steps of: simplifying limbs into a system of mass points; establishing a D-H coordinate system for each rigid body connecting rod; then sequentially transforming to obtain a position pose of a sole relative to an organism coordinate system, and planning advancing gaits as crouching, inclining a body toward the right side and swinging the tail toward the right side, stepping a front left leg forward, stepping a rear left leg forward, inclining the body toward the left side and swinging the tail toward the left side, stepping a rear right leg forward, stepping a front right leg forward, and inclining the body toward the right by a transformation matrix between the organism coordinate system and a ground coordinate system; and calculating the gravity center of each limb constituent part and the overall mass center of an obosaur in real time by using the transformation matrix according to a driving function of thighs, shanks and hip joints to ensure that a vertical projection falls on a polygonal region formed by footing points. A function relation between a total mass center and joints is obtained through transformation between the organism coordinate system and a fixed coordinate system, and thus each joint variable is regulated, and the walking stability of a rbiomimetic obosaur is improved.
Owner:大连楚云天科技开发有限公司
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