Dual-leg travelling mechanism with adjustable joint length

Abstract

The invention discloses a dual-leg traveling mechanism with adjustable joint length, and relates to the technical fields of mobile robots, medical rehabilitation machinery and the like. The mechanism consists of a platform, two legs with adjustable length and two feet, wherein the two legs have the same closed-loop kinematic chain mode; each leg has two degrees of freedom and is driven by two motors; the joint of one leg and one foot has one rotational degree of freedom, and is driven by a motor; and the motion of the two legs can be coordinated by controlling the rotation of the motors of each leg so as to realize standing, squatting, pitching, walking, running and jumping of the mechanism. The dual-leg traveling mechanism has the advantages that: the mechanism has high traveling capability, can realize running and jumping motion, is simple, flexible in motion and easy in control, and can be applied to traveling of mobile robots and related traveling devices.

Description

【Technical field】 [0001] The invention relates to the technical field of mobile robots, in particular to a dual-leg walking mechanism with adjustable joint lengths. 【Background technique】 [0002] At present, the walking methods of mobile robots are mainly wheeled, legged, and wheel-legged. Among them, the wheeled walking method is the most widely used method at present, and it is divided into three-wheeled, four-wheeled and other forms. However, there are disadvantages such as the following in the wheeled walking mode: 1) the wheels may slip; 2) the ability to overcome obstacles is limited; 3) the realization structure is complicated. Compared with the wheeled walking method, the legged walking method has the potential to overcome the above shortcomings, and also has incomparable advantages of the former, such as going up and down stairs, crossing ditches and obstacles, being able to climb steep slopes, and turning on the ground. The reasons and purposes of studying biped ...

AI Technical Summary

Problems solved by technology

However, the wheeled walking method has disadvantages such as the following: 1) the wheels may slip; 2) the ability to overcome obstacles is limited; 3) the realization of the structure is complicated

In the existing technology, in order to realize walking, turning, squatting\standing up, running, jumping and other actions, the humanoid biped walking mechanism needs to increase the corresponding joint degrees of freedom, which means using more driving The motor, on the one hand, increases the load on the legs of the mechanism, which increases its motion inertia and reduces the flexibility of the mechanism's movement. On the other hand, it greatly increases the design, manufacture, maintenance and control costs of the mechanism.

Images