Low-power consumption two-foot walking moving system and walking control method thereof

A mobile system, low-power technology, applied in the field of robotics, can solve the problems of not paying attention to alternating walking movements, not deliberately detecting corners, and not passing by, and achieves wide application prospects and development potential, and the control method is simple and easy to use. low cost to manufacture

Inactive Publication Date: 2008-11-05
TSINGHUA UNIV
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Problems solved by technology

Once humans start walking, they no longer need to consciously control walking. We hardly notice the alternating walking movements of the two legs th

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  • Low-power consumption two-foot walking moving system and walking control method thereof
  • Low-power consumption two-foot walking moving system and walking control method thereof
  • Low-power consumption two-foot walking moving system and walking control method thereof

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Embodiment Construction

[0033] The present invention provides a walking control method of a biped walking mobile system with low power consumption. The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0034] figure 1 It is a schematic diagram of the mechanical composition of the low-power biped walking mobile system of the present invention. The biped walking mobile system 10 includes a left leg 17L and a right leg 17R, which are connected by a hip joint 11; the left leg 17L is composed of a left thigh 12L and a left leg The lower leg 15L is composed of the left knee joint 13L, and the lower end of the left lower leg 15L has a left foot 16L fixed thereto; the right leg 17R is composed of the right thigh 12R and the right lower leg 15R, connected by the right knee joint 13R, and the lower end of the right lower leg 15R has The right foot 16R solidified with it; the left foot 16L and the right foot 16R have a fixed radius of cur...

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Abstract

The invention belongs to the field of robot technique, in particular to a low power dissipation and dual-feet walking moving system and a walking control method. The invention provides a walking controller (20) used for the dual-feet walking moving system; wherein, a logic state judging unit (22) detects the signal value of a switch which is arranged at a vola and a knee patella by a walking state detection unit (21), thus controlling the loosening or locking of brake devices (14L and 14R) which are arranged at the knee joint; meanwhile, an intermittent and parametric open-ring oscillation moment is exerted at the hip joint, thus leading a thigh swing to drive a calf swing to advance naturally. By changing the parameter of an oscillation moment parameter unit (25), the system can adjust the step and the stepping speed on line, and realize the conversion of the walking modes. The walking control system and the walking control method sufficiently utilize the passive characteristic and the self-stability characteristic of the dual-feet walking and have the advantages of natural and energy-saving walking gait, simple control method and low manufacture cost.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a low power consumption biped walking movement system and a walking control method thereof. Background technique [0002] Most traditional robots adopt the active control method of tracking preset joint trajectories, and all joints are controlled by high-gain position servos. Although human-like walking and running can be realized, the energy consumption is high. For example, the walking energy consumption of Honda's ASIMO humanoid robot is more than ten times that of human walking. On the other hand, the passive walking system only relies on gravity to passively rotate the joints of the robot, so the energy consumption is greatly reduced, and it has natural stability; but the completely passive walking system can only walk on slopes, and the road conditions are poor. Not practical in application. [0003] An effective solution is to combine the advantages of active ...

Claims

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Application Information

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IPC IPC(8): B62D57/032G05B19/02
Inventor 付成龙陈恳王健美黄元林
Owner TSINGHUA UNIV
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