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 low energy consumption

Inactive Publication Date: 2011-04-06
SOUTH CHINA UNIV OF TECH
View PDF0 Cites 0 Cited by
  • 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 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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • 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

Examples

Experimental program
Comparison scheme
Effect test

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 and figure 2 The appearance diagram and mechanism schematic diagram 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 sequentially connected in series, and the sequence is: foot—force sensor—I-type joint—T-type joint—T-type joint—T-type joint—T-type joint—I-type joint—force sensor—foot. There are four T-joint modules 0-3 in the middle, and a transition sleeve 0-4 in the middle to adjust the connection distance. Each joint module is connected with snap ring 0-4. The longitudinal section of the ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
Inventor 管贻生江励张宪民
Owner SOUTH CHINA UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products