Modular six freedom-degree initiative joint type bipod walking robot

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 rodand 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 of the invention 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, disasterrelief and the like.

Description

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

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 freedom, and the weak walking ability of the passive walking robot, and provide a modular six-degree-of-freedom active joint type biped walking robot

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