A biped robot walking mechanism

Abstract

The invention provides a double-foot robot walking mechanism. The double-foot robot walking mechanism comprises a waist mechanism and two leg mechanisms with the same structures, wherein the leg mechanisms are symmetrically arranged and connected to the two sides of the waist mechanism; the leg mechanisms comprise thigh mechanisms and shank mechanisms; the thigh mechanisms are formed by serially connecting Chebyshev mechanisms and pantograph mechanisms arranged from top to bottom; the shank mechanisms consist of two sets of parallelogram mechanisms arranged at the upper parts and the lower parts of the shanks; shank extension driving motors are mounted at the upper parts of the shanks for driving and adjusting the lengths of the shank mechanisms to adjust the gait of the walking mechanism so as to cross over obstacles; the waist mechanism comprises a gear module, a bearing module and a waist bracket; the steering of the leg mechanisms in the walking process is realized through planning the alternate positive-negative rotation of a waist driving motor; and rollers for realizing a wheel type walking mode are arranged on the shank mechanisms. The double-foot robot walking mechanism has such advantages as various functions, reliable structure, simple control and low cost.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a biped robot walking mechanism. Background technique [0002] The huge application value and market prospect of service robots have become the consensus of many countries including Europe, America, Japan, South Korea and China, and some countries have formulated special development plans and strategies. Humanoid robots have become the most promising robot partners for human beings in the future because of their three outstanding advantages: being able to adapt to the living environment of human beings, being able to directly use human tools, and having affinity with human characteristics. It is one of the research hotspots in the field of service robots. According to incomplete statistics, since the first real humanoid robot was born in Japan in 1973, more than 100 humanoid robot projects have been carried out around the world. [0003] A humanoid robot consists of ...

AI Technical Summary

Problems solved by technology

[0006] 1. High cost: Each degree of freedom of the robot leg is equipped with a motor, a harmonic reducer and a motor driver. In addition, it is usually equipped with multi-dimensional force sensors, etc. These standard parts are relatively expensive, making the robot due to high cost but still far away from practical application

[0007] 2. High energy consumption: the use of multiple motors makes the overall power of the robot larger, while the humanoid robot is powered by batteries, so the high power poses a challenge to the battery life

[0008] 3. Heavy weight: Standard parts such as motors and harmonic reducers are heavy, which makes the robot heavier. On the one hand, it increases energy consumption, and on the other hand, the safety of the robot is not high due to the large inertia

[0009] 4. Complicated control: A large number of motors greatly increases the complexity of the control system, and at the same time reduces the stability of the system

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