1185results about How to "Walking smoothly" patented technology

The invention discloses a gait control method and a device for a dual-foot robot. The method comprises the steps of selecting gait control parameters for a starting period, a walking period and a stopping period; acquiring the motion trajectory of the mass center of the dual-foot robot during the walking period when the zero moment point of the dual-foot robot is within a stable area; obtaining the first value of each gait control parameter when the mass center is at the initial moment of the walking period and the second value of the gait control parameter when the mass center is at the ending moment of the walking period; setting a first constraint condition at the ending moment of the starting period by utilizing the first value, and setting a second constraint condition at the starting moment of the stopping period by utilizing the second value; based on the first constraint condition and the second constraint condition, calculating the motion trajectory of the mass center during the starting period and during the stopping period respectively; controlling the walking of the dual-foot robot to enable the motion trajectory of the mass center of the dual-foot robot during walking to meet the motion trajectory of the mass center during the starting period, the walking period and the stopping period respectively. According to the technical scheme of the invention, the stable cohesion of the dual-foot robot during the starting period, the walking period and the stopping period and the walking stability of the dual-foot robot can be ensured.

A robot and method of controlling the robot, the method including setting a target walking motion of the robot using an X-axis displacement, a y-axis displacement, and a z-axis rotation of a robot base, detecting and processing data of a position, a speed and a gradient of the robot base, a z-axis external force exerted on the foot, and a position, an angle, and a speed of each rotation joint using sensors, setting a support state and a coordination system of the robot, processing a state of the robot, performing an adaptive control by generating a target walking trajectory of the robot according to the target walking motion when a supporting leg of the robot is changed, setting a state machine representing a walking trajectory of the robot, and controlling a walking and a balancing of the robot by tracing the state machine that is set.

The invention discloses a gait planning method for walking of a biped robot along a slope, and belongs to the technical field of robots. The method contains two core theories, namely, non-orthogonal decomposition and synthesis of a three-dimensional linear inverted pendulum and gait planning based on a biped long linear inverted pendulum. The method comprises the steps of gait parameter configuration, non-orthogonal decomposition of a three-dimensional linear inverted pendulum, foot trajectory planning based on three times of spline interpolation, centroid trajectory planning of a sagittal plane and a coronal plane based on a biped long linear inverted pendulum, non-orthogonal synthesis of the centroid trajectories of the sagittal plane and the coronal plane, and solving of joint trajectories of a robot based on inverse kinematics. By adopting the method of the invention, stable walking of a biped robot along all directions of a slope can be effectively achieved. The method is universal, simple in algorithm and high in practicality.

The invention relates to a lower limb structure of a two-leg robot, which belongs to the field of robot. Applying the characteristics of mechanical movement of parallel opposite sides in a parallel four-link, the invention designs the lower limb structure of the robot with two legs having ten degrees of freedom. Compared with the lower limb structure of the general two-leg robot having 12 degrees of freedom, two degrees of freedom of forward swinging on two ankle joints are decreased. In connection with the opposite driving method with two motors and the same axle applied by each forward swinging and sideward swinging, the invention increases a joint driving torque and decreases the rotation clearance when the mechanism is kept compact. Besides, two motors which realize the degrees of freedom of forward swinging on hip and knee joints are both designed and arranged at the knee joints, thus optimizing the quality distribution of leg mechanisms and reducing the design difficulty of the hip joints with 3 degrees of freedom. The invention uses the parallel four-link mechanism to realize the mechanism design of upper legs and lower legs of the robot, so bottoms of the two feet of the robot are always parallel with the ground during walking, and the effect on the walking stability of the robot due to the rotation clearance of output shafts of the motors is effectively decreased.

The invention discloses a building wall construction robot, which comprises a crawler unit, a rotary turntable device, a retraction regulating mechanical arm, a construction tool lifting device, a plaster hopper device, a construction position locking device, a trackless guide device and a power device. The building wall construction robot is compact in structure, stable in walking, flexible in movement, and accurate in direction change; the construction tool has large lift; the construction tool lifting device is full automatic; and the construction process completely simulates a manual plastering mode, trackless guide is adopted, the trouble of laying a guide rail is avoided, and the construction quality and construction efficiency are greatly improved.

The invention relates to a foot wheel type robot leg structure. The foot wheel type robot leg structure comprises a thigh with the top connected with a first power mechanism, and the lower side of the top is hinged to an external member to form a hip joint; a wheel, a second power mechanism driving the wheel to rotate and a first elastic suspension unit hinged to a metatarsus rod are further arranged on the upper portion of the tail end of the thigh; the upper portion of the tail end of the thigh is hinged to the upper half of the calf to form a knee joint; the upper end of the calf is connected with a third power mechanism while the lower end is hinged to the metatarsus rod to form an ankle joint; the first elastic suspension unit comprises a sleeve and a sliding shaft respectively hinged to the thigh and the metatarsus rod, the upper end of the sliding shaft extends into the sleeve to slide in a reciprocating manner, an elastic part sleeves the sliding shaft, and the lower end of the elastic part is fixed on a boss on the lower half of the sliding shaft while the upper end of the same is fixed on the sleeve. The invention further discloses a foot wheel type robot. By the arrangement, foot type and wheel type walking modes can be realized.

A legged robot and a legged robot walking control method are disclosed, which enable stable walking without force sensors on leg tips. A legged robot of the present invention comprises a torso, a leg link, which is swingably connected to the torso, storing means 210 for storing leg tip gait data describing a time-series change in a target leg tip motion, storing means 210 for storing torso gait data describing a time-series change in a target torso motion, which realizes a target ZMP following the change in the target leg tip motion, torso motion detection means 218, 220 for detecting an actual torso motion, deviation calculation means 312 for calculating a deviation of the actual torso motion from the target torso motion, correction quantity calculation means 308 for determining a correction quantity from the calculated deviation based on a prescribed transfer function, and correction means 306 for correcting the target torso gait data based on the determined correction quantity.

The invention relates to a weeding robot with the adjustable center of gravity for paddy fields. The weeding robot comprises a hub driving type caterpillar track device, a caterpillar track lifting device, an extension movement device and a slider balance device. The hub driving type caterpillar track device is used for driving a hub through a hub motor, thereby driving caterpillar tracks to run, enabling the robot to walk between rice seedling lines, pressing weeds into mud and even cutting off or pulling out weeds; the caterpillar track lifting device and the extension movement device are used for realizing the lifting and extension of the caterpillar track device so that line changing walking and field ridge crossing walking can be carried out; the slider balance device is matched with the caterpillar track lifting device and the extension movement device and is used for adjusting the center of gravity of the robot and realizing the self balance of the whole body of the robot in the line changing process and the field ridge crossing process and the self-restoring function after the robot sinks into a pit in a paddy field environment with pits; and the weeding robot has the advantages of simple structure, small volume, light weight, convenience in carrying and high universality.

The invention discloses an ultrasonic inspecting and scanning device of a welding line, comprising a main frame, an idler wheel mechanism and a scanning mechanism, wherein the idler wheel mechanism is connected with the main frame, the scanning mechanism is arranged on the main frame and comprises a slanting scanning mechanism, and the slanting scanning mechanism is provided with a slanting scanning arm which is configured aslant relatively to a welding line to be inspected. The main frame is rectangular, and four edges of the main frame are all provided with guide rails; the slanting scanning mechanism comprises two slanting scanning brackets, a slanting guide rail and two slanting scanning arms, wherein the slanting guide rail is connected between two slanting scanning brackets, and the slanting scanning arms are arranged on the slanting guide rails; one slanting scanning bracket is straddled on two guide rails of two adjacent edges of the main frame, and the other slanting scanning bracket is straddled on two guide rails of other two adjacent edges. The ultrasonic inspecting and scanning device of a welding line, which is provided by the invention, can effectively solve the problem of missed detection of horizontal defects, enlarge defect detection range, realize overall scanning of the welding line and reduce potential safety hazard.

The invention relates to an amphibious bionic robot which is characterized in that the amphibious bionic robot includes a sealed main cabin body and four propeller leg complex propelling mechanisms. A control device, a power supply device and a waterway environment detection sensor are arranged in the main cabin body; the four propeller leg complex propelling mechanisms are opposite in pairs and symmetrically arranged on two sides of the main cabin body; each propeller leg complex propelling mechanism includes two driving rods, a driven rod and a swing propeller; one end of each driving rod is respectively connected with the output ends of two motors; one driving rod is close to the middle part of the main cabin body, and the other end of the driving rod is connected with one end of the swing propeller through a rotating shaft; the other driving rod is close to the outer side of the main cabin body, the other end of the driving rod is connected with the driven rod through a rotating shaft; the driven rod is connected with the middle position of the swing propeller, the other end of the swing propeller is an execution tail end. The amphibious bionic robot has the advantages of good adaptability to environment, stability and reliability, and flexible movement, thereby the amphibious bionic robot can complete various tasks for prospecting, working, etc. in marshes and offshore water, and play an important role in an offshore landing battle in the future.

The invention discloses a four-footed walking robot platform which is provided with a driving power via cam rigidity by an internal-combustion engine and is provided with a swerving power by a servo motor system and the balanced stance of which is regulated. A compound driving mode is established by finding a high efficient walking mode of combining the power technique of current car, tank and tractor with the technique of modern computer and robot technique based on the research result of the current multi-footed robot. 99% of driving power for the robot straightly walking on flat road is provided by the internal-combustion engine. When rugged road appears or the robot needs to swerve, the motor system regulates the balanced stance and finishes the swerving task. The robot of the invention not only can decrease the power of the motor system, lighten the self-weight, lower the use frequency of the motor system and prolong the service life of a screw rod, but also can completely imitate the four-footed animals, can realize continuous, smooth, stable, powerful and efficient walking and can continuously work for a long time in a complex environment.

The invention discloses a walking robot having a landing buffer function. The walking robot comprises a landing platform (1), a plurality of buffering walking mechanisms (2) surrounding the landing platform (1), a landing parachute pack (3) and a controller (4). Each buffering walking mechanism (2) comprises a multifunctional strut (21), two single-function struts (22) and a foot pad (30). When a robot lands, the multifunctional strut (21) can have the landing buffer function; and after the robot lands, the multifunctional struts (21) and the two single-function struts (22) jointly achieve a walking function. The walking robot lands stably, is flexible in gait, walks stably and is high in bearing capacity, safe and reliable, the walking capacity on complex terrain conditions can be enhanced remarkably, and the throwing in the air can be achieved.

The invention relates to a robot traveling device with a liftable frame. The traveling device is provided with a frame (1), four wheels (2), independent suspension brackets and a motor driving device, wherein each independent suspension bracket and the motor driving device are arranged between each wheel (2) and the frame (1); each independent suspension bracket consists of a cantilever (3) and adamper; the axis of the cantilever (3) is positioned in a longitudinal vertical plane of the frame (1), one end of the cantilever (3) is hinged with the frame (1), and the other end of the cantilever(3) is hinged with an axle (11) of the wheels (2); the lower end of the damper is hinged with the middle part of the cantilever (3), and the upper end of the damper is hinged with the frame (1); and the traveling device is characterized in that: the damper consists of an electric push rod (4) and a bidirectional telescopic damper (5) which is coaxially and serially arranged on the end part of a push rod (4-2) of the electric push rod (4). The traveling device has the advantages of high obstacle surmounting capacity and stable and safe traveling.

An automatic detecting robot for detecting the high-voltage transmission line by moving along it is composed of several robot units and several joints for linking said robot units. Said robot unit has the drive motor of drive wheel the open-close motor for opening or closing the drive wheel for separating or linke the robot frame or with the transmission line, and lift motor for raising up or lowering down the robot. Said joint is composed of the pitching and swinging joints.

The invention discloses an industrial laser guidance automatic guided vehicle (AGV) double-closed-loop control system and a control method thereof. The system consists of a detection module and a control module and is characterized in that: the detection module consists of an encoder serving as a motor position sensor and a laser scanner serving as an AGV position sensor; the control module consists of a servo driver and an industrial personal computer and is a double-position closed loop control module consisting of an inner position ring and an outer position ring; the inner position ring is a motor intersection angle position ring; the outer position ring is used for reading an AGV position signal by using the laser scanner; the path tracking error of the current position of an AGV is calculated by the AGV position signal fed back from the outer position ring; and the path tracking error is used as the input quantity of the control system. By the system and the method, the independent running function of the industrial laser guidance AGV can be well realized, and the rapidity and the stability of the path tracking of the AGV can be ensured.

The invention discloses a backpack-type walking power assisting device which comprises a supporting frame, wherein a back plate, straps, a backpack and a size-adjustable waistband are arranged on the supporting frame; a rotatable hip joint is mounted at the lower end of the supporting frame; a pair of lower limb exoskeletons are mounted on the hip joint; each lower limb exoskeleton comprises a thigh bone supporting mechanism, a leg bone supporting mechanism and a foot fixing mechanism; the leg bone supporting mechanism is elastically connected with the foot fixing mechanism; the thigh bone supporting mechanism comprises a thigh bone fixing plate and a first gravity balance mechanism; the leg bone supporting mechanism comprises a leg fixing plate and a second gravity balance mechanism; and the thigh bone fixing plate is elastically connected with the leg fixing plate. The backpack-type walking power assisting device has the advantages that the first gravity balance mechanism and the second gravity balance mechanism are used for balancing the lower limb gravity in a moving process of a human body in real time, thereby enabling a user to walk by following a movement trajectory of a human skeleton and reducing the physical output of the user; a pure mechanical structure design is adopted; the device cannot be influenced by an external environment; and the stability and reliability are high.

The invention discloses a suspended orbit type multi-arm casting robot which comprises a running gear, a slewing gear, a lifting gear, a working-arm mounting seat, a first working arm, a second working arm, a third working arm, a fourth working arm and a circular orbit. Cleaning tools of a pneumatic finger, a polisher, a pneumatic pick, a plasma cutter and the like are arranged on an end executor of each of the four working arms. The running gear adopts four-point suspension, long-distance steady movement of a robot can be realized, the four working arms can be operated in a joint manner, the four pneumatic fingers and the four cleaning tools can be converted flexibly, multi-tool synchronization operation can be realized, requirements on cleaning operations of recognizing, transporting, overturning, attitude adjusting, cleaning, cutting, polishing and the like of castings with heavy weight, bulk mass and complex shape can be met, efficiency and quality of casting cleaning operation are improved, and labor intensity and production cost of operating personnel are lowered.

The invention discloses a previewing control humanoid robot gait planning method based on deep reinforcement learning. The method comprises steps of 1) acquiring state information through a sensor assembled on a humanoid robot; 2) improving a current deep reinforcement learning network, and defining totally new states, action vectors and awarding functions; 3) using the defined action vectors to correct output of a previewing controller, calculating the angle of each steering engine of the feet of the humanoid robot and guiding the humanoid robot to walk; and 4) during walking processes of thehumanoid robot, using values of the states, the action vectors and the awarding functions to update the improved deep reinforcement learning network. According to the invention, the walking problem of the humanoid robot under a complex environment can be effectively solved; and a test is carried out on a simulation platform and a real robot to verify the validity of the method.

The invention discloses a multi-sensor integration based three-dimensional environment identifying system and a multi-sensor integrated based three-dimensional environment identifying method for a walker aid robot. The multi-sensor integration based three-dimensional environment identifying system comprises an ARM information processing module, an industrial personal computer and a lower computer motion control module, wherein the ARM information processing module sets up a three-dimensional scene reconstruction and target tracking information and transmits the same to the industrial personal computer module after processing acquired data. The industrial personal computer receives users' commands, generates a navigation map by means of a GPS (global positioning system), combines the three-dimensional scene reconstruction and target tracking information with a navigation map to generate motion path planning information and transmits the motion path planning information to the lower computer motion control module. The lower computer control module drives and controls the walker aid robot to act correspondingly according to the motion path planning information and feeds the motion information back to the industrial personal computer. The three-dimensional environment identifying system integrates multiple sensors, creates a real three-dimensional environment for the walker aid robot and generates superior motion path for the walker aid robot to safely, stably and reliably walk, target tracking is realized effectively, and intelligentization of the walker aid robot is improved.

The invention discloses a food delivering system, which is arranged on a food delivering vehicle. The food delivering system comprises an active obstacle avoidance driving unit, an image recognition unit, a judgment unit and a control unit, wherein the judgment unit comprises a light source and multiple light sensors; and the active obstacle avoidance driving unit, the image recognition unit and the judgment unit are in data connection. The food delivering system is arranged on the food delivering vehicle, the food delivering vehicle can automatically deliver food to a specified dining table, the accuracy is high, manpower is reduced, and the working efficiency is improved. Multiple dinner plates are arranged on the food delivering vehicle, food can be delivered to multiple dining tables at the same time, the food delivering vehicle walks stably, operation in the case of food delivering is stable, and food can be accurately delivered to the specified dining table.

The invention discloses a gait planning method for a biped robot based on deep reinforcement learning, and the method utilizes the stability and flexibility of human gait and combines deep reinforcement learning to effectively control the gait of the biped robot. The method includes the following steps: 1), establishing a passive biped robot model; 2), acquiring and processing human gait data andtarget gait data; 3), extracting the implicit features of the gait data of the biped robot and human gait data through using a noise reduction auto-encoder; 4), learning the gait characteristics of ahuman body through using deep reinforcement learning, and then planning the gait of the biped robot. The method combines deep reinforcement learning with human gait data to control the biped robot towalk as stable and compliant as a human.

Provided is an intelligent tunnel lining trolley, characterized by comprising a door-shaped main steel frame, a concrete pouring informationized monitoring system, an end template, a template cleaningand surface lubricating system, an automatic running gear, and a layered window-by-window pouring and cleaning system. The tunnel lining trolley is simple in structure and reasonable in design, and real-time monitoring of each parameter in a concrete pouring process is realized, automation degree of equipment is improved, cleaning and template surface lubrication operation flow are simplified. The intelligent tunnel lining trolley provides convenience for on-site management and construction, and has certain environmental protection property and very high security.

An object of the present invention is to provide an artificial knee joint that can avoid both bony contact and soft tissue contact and is durable for long-term use. The artificial knee joint of the present invention includes a femur, a tibial tray, and an insertion plate fixed to the tibial tray. The femur portion includes: a femoral articular surface, and a cam portion protruding from the femoral articular surface provided at the rear end of the femoral articular surface, and the insertion plate includes: a tibial articular surface that abuts on the femoral articular surface, and A cam sliding movement surface that abuts on the cam portion. When the knee is extended, it is the first sliding state where the articular surface of the femur slides on the articular surface of the tibia, within the bending angle of 90° to 160°, from the first sliding state to the sliding movement of the cam part on the cam sliding surface The second sliding movement state shifts. When the knee is bent at a bending angle of 180°, the osteotomy surface of the femur and the rear end of the insertion plate are offset through the second sliding movement state.

The invention relates to a four-foot walking robot platform, a high-efficiency walking mode which combines the power technology of the existing automobiles, tanks and tractors and the modern computer and robot technology is found under the existing research result of a multi-foot robot, so as to build a combined driving mode, an internal-combustion engine is used for providing driving force rigidly through a cam, and a servo hydraulic pressure driver is used for providing steering force and regulating balance posture; 99 percent of the driving force is provided by the internal-combustion engine rigidly when the robot walks straightly on the flat road, when the robot walks on the uneven road or turns, a hydraulic pressure driving system is used for carrying out the tasks of regulating the balance posture and steering, therefore, the power of the hydraulic pressure driving system can be reduced, the using frequency of the hydraulic pressure driving system is reduced, the service life is prolonged, the robot can imitate the four-foot animal completely, the continuous, smooth, stable, strong and high-efficiency walking is realized, and long-time contiguous working can be carried out under complex environment.

The invention relates to a multifunctional pipeline robot which comprises an advancing device, a sweeping device and a control circuit board. A driving device is arranged on the advancing device. The multifunctional pipeline robot further comprises a planetary wheel set A arranged on the advancing device and a planetary wheel set B arranged on the sweeping device, the advancing device is connected with the sweeping device through a spring, and a walking device pushes the sweeping device to advance in a pipeline. When the sweeping device encounters a curve, the spring can be net, and a steering function of the whole robot is achieved. Due to the fact that the walking device and the sweeping device are separately arranged, the length of the whole pipeline robot is quite decreased, and the phenomenon that the pipeline robot is clamped in the curve does not easily occur. The driving device adopts a worm wheel and worm structure, when the pipeline robot stops at a certain position in a vertically pipeline to perform sweeping or detection, a worm wheel does not drive a worm to rotate by utilizing the self-locking performance of the worm wheel and worm structure, and the phenomenon that driving wheel cannot reversely rotate and accordingly the pipeline robot slips down can be avoided.

The invention discloses a robot for electrified detection of an insulator string. The robot comprises a plurality of guide rod mechanisms, at least one insulator detection device, a control device and at least one rotary driving device, wherein the guide rod mechanisms are connected on the two sides of the rotary driving device, the control device and the insulator detection device are all fixed on the guide rod mechanisms, and the insulator detection device and a driving motor of the rotary driving device are all electrically connected with the control device. According to the robot, the structure is compact, the movement speed is quick, the number of short-circuit insulator sheets is few, the abrasion on the insulators is little, the safety protection is good, the using range is wide, and the robot is suitable for duplex-parallel insulator strings, single strain insulator strings, suspension insulator strings and V-shaped insulator strings.

The invention relates to a bridge construction suspended wagon structure and a construction method thereof, wherein a suspended wagon comprises a main truss plate, a bracing, a bottom die platform and hangers thereof, an inner formwork, an outer formwork and supports and hangers thereof, a rear anchoring system and a walking system, wherein the main truss plate is connected by a vertical and a lever bracings, the back portion of a bottom chord bar of the main truss plate is connected with the back anchorage system, the walking system comprise a lower slide way which is located on the lower portion of the main truss plate, the main truss plate is a trapezoid truss structure, an upper leveling bar of the main truss plate is equipped with a front beam and a middle beam, a front point of the bottom die platform is hung on the front beam when walking, and a back point of the bottom die platform is hung on the middle beam. When the suspended wagon walks, an external formwork support is located on the bottom die platform, a front hoisting point and a back hoisting point of the bottom die platform are respectively hung on a front upper beam and a middle beam, the front upper beam and the middle beam drive the bottom die platform to firstly slide to the back portion of a front support from the back portion of the suspended wagon, and then a main truss of the suspended wagon drives the whole suspended wagon to vertically move in position. The line feed status has no overturning moment, the line feed status does not need an embedded gluten any more, the use amount of non recoverable parts is greatly reduced, and the economic benefit is obvious.

The invention relates to a full-automatic double-station device for spraying paint on the outer surfaces of cast iron pipes. A bracket is mounted on the ground. A guide rail is arranged at the upper part of the bracket. A paint spraying trolley and dust removing trolleys are mounted on the guide rail and can move along the guide rail. The paint spraying trolley is connected with the dust removing trolleys. Another guide rail used for allowing a primary tip trolley and a secondary tip trolley to travel is arranged in the middle of the bracket. Pneumatic devices are connected with the tail parts of the primary tip trolley and the secondary tip trolley. A trolley guide rail is arranged under the bracket. A pipe feeding and discharging stepping trolley is mounted on the trolley guide rail, and is connected with a stepping trolley cylinder and a duplex cylinder, which are mounted on the bracket. Automatic aligning devices are arranged in front of the bracket, are parallel to the bracket, and are connected with a pneumatic system. The full-automatic double-station device can be used for spraying paint on cast iron pipes which are 3 m long and have different external diameters, and adopts automatic control, the labor condition and the operation environment are improved, the labor intensity of workers is effectively reduced, the paint sprayed cast iron pipe is high in quality, and high in precision, and the working efficiency is improved effectively.