Modular six freedom-degree initiative joint type bipod walking robot

A walking robot and active joint technology, applied in the field of robotics, can solve the problems of weak walking ability and complex structure of passive walking robots, and achieve the effects of simple manufacturing and maintenance, easy construction, and less degrees of freedom

Inactive Publication Date: 2009-05-06
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the shortcomings of the active walking robot, such as complex structure and many degrees of

Method used

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  • Modular six freedom-degree initiative joint type bipod walking robot
  • Modular six freedom-degree initiative joint type bipod walking robot
  • Modular six freedom-degree initiative joint type bipod walking robot

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Embodiment Construction

[0032] In order to better understand the present invention, the present invention will be further described below in conjunction with the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0033] figure 1 with figure 2 The appearance diagram and the schematic diagram of the mechanism of the robot constructed by the present invention are respectively shown. As shown in the figure, the robot has six degrees of freedom and a total of eight modules. The main body is composed of six joint modules 0-2 and 0-3, and a foot module 0-1 is connected to each end. Each module is connected in series in sequence, the order is: foot-force sensor-I joint-T joint-T joint-T joint-T joint-I joint-force sensor-foot. There are four T-joint modules 0-3 in the middle, and a transition sleeve 0-4 is used to adjust the connection distance in the middle. Snap rings 0-4 are used to connect the joint modules. The longitudinal section of the inner ring of the snap...

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Abstract

The invention discloses a modular active joint type biped walking robot with six degrees of freedom. The robot consists essentially of six joint modules and two circular feet. Each joint module has a rotating freedom degree and is driven by a DC servo motor. The joint modules have two types, joint rotating shafts thereof are respectively parallel and vertical to the axis of a joint connecting rod and respectively called as I type or T type. All the modules are sequentially connected in series, and the sequence is as follows: foot-the I type joint-the T type joint-the T type joint-the T type joint-the T type joint-the I type joint- the foot. The rotating shafts of the four T type joints in the middle are parallel to each other, and vertical to the rotating shafts of the I type joints at the two ends. The robot has a plurality of walking models, including twist gait, transverse gait and flip gait. The robot is characterized by few freedom degrees, active walking, simple structure and control, good adaptability to the environment, strong obstacle-climbing capability, low energy consumption and the like. The robot can be widely used for operations such as carrying, detection, disaster relief and the like.

Description

Technical field [0001] The present invention relates to the technical field of robots, in particular to a biped walking robot constructed by a modular method with six degrees of freedom and all joints are active. Background technique [0002] Humanoid robots are the most advanced and cutting-edge embodiment of today's robotics technology development. They have a human-like appearance and imitate humans in terms of structure and walking style. Its structure is complex, often composed of upper body and lower limbs, with legs and hands, and often up to 30 degrees of freedom. The core technology of humanoid robots and the most challenging difficulty is the realization of dynamic balance when walking with two feet. Since the early days of the development of robotics, bipedal walking has been considered one of the most difficult challenges. As early as thirty years before the famous humanoid robots ASIMO, QRIO and HRP-2 appeared, biped walking has always been the focus and difficulty i...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 管贻生江励张宪民
Owner SOUTH CHINA UNIV OF TECH
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