Novel biped humanoid robot system based on pneumatic artificial muscles

A technology of pneumatic artificial muscles and humanoid robots, which is applied in the field of bionic robots, can solve problems such as non-flexible mechanisms, and achieve the effects of strong movement ability, close connection, nonlinearity and increased uncertainty

Active Publication Date: 2015-03-11
廊坊市奥联科技有限公司
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Problems solved by technology

Chinese patent document CN101565064A discloses "a biped robot walking mechanism", which can realize more humanoid actions and basically does not have a flexible mechanism
[0009] To sum up, it is a great challenge to realize the simulation of human biped walking motion with the optimal structure, especially to realize the high-efficiency walking motion of the designed biped humanoid robot

Method used

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  • Novel biped humanoid robot system based on pneumatic artificial muscles
  • Novel biped humanoid robot system based on pneumatic artificial muscles
  • Novel biped humanoid robot system based on pneumatic artificial muscles

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Embodiment Construction

[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0041] Such as Figure 1-5 As shown, a biped humanoid robot system driven by pneumatic artificial muscles, the system includes waist, hip joint, thigh, knee joint, calf, foot seven parts, a total of 13 DOF degrees of freedom, in which the waist (F1) : 3×1DOF, double hip joints (F2, F3): 3×2DOF, double knee joints (F4, F5): 1×2DOF, double ankle joints (F6, F7): 2×1DOF.

[0042] The system includes air compressor and air tank 1, upper body support 2, upper waist connecting bearing 3, waist support 4, lower waist connecting bearing 5, waist support 6, hip joint connecting bearing 7, robot thigh 8, robot knee joint 9, Robot calf 10, robot ankle joint 11, robot foot 12, pneumatic artificial muscles M1-M16, springs S1-S12, quick connectors J1-J7, interfaces j1-j17;

[0043] The air compressor and the gas tank 1 are installed on the upper ...

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Abstract

The invention provides a novel biped humanoid robot system based on pneumatic artificial muscles, belongs to the technical field of robots, and in particular relates to a biped robot having powerful athletic ability and flexible humanoid characteristics. The biped humanoid robot system comprises a mechanical body and an electrical control system; the biped humanoid robot system is characterized in that the mechanical body is mainly composed of seven parts, namely a waist, a hip joint, thighs, knee joints, shanks, feet and the like, and has 13 degrees of freedom in total; in the 13 degrees of freedom, 3 degrees of freedom of the waist are realized by virtue of the cooperation of four pneumatic muscles and the waist spine, and the single degree of freedom of each of the hip joint, the knee joints and the ankle joints is realized by use of one pneumatic muscle and one spring which are pulled to each other to produce opposed rotating force. According to the design of the novel biped humanoid robot system, a control platform is provided; the system relates to the fields of control science and intelligent control in addition to robotics, and is capable of meeting the requirements of scientific research and teaching of a plurality of disciplines.

Description

technical field [0001] The invention is a novel biped humanoid robot system based on pneumatic artificial muscles, belonging to the technical field of bionic robots. Background technique [0002] As a very important technology in the 21st century, robot technology is a high-tech just like network technology, communication technology, gene technology, virtual reality technology, etc. The biped robot is a new type of robot that appears under the trend of continuous development of science and technology. In the development of biped robot technology, the problem of human imitation is a common problem in biped robot system. At the same time, people have higher and higher requirements for biped robots. Biped robots must have a humanoid appearance, be able to imitate human behavior and actions, be able to perform human-computer interaction, and be able to move flexibly in a narrow space. These requirements are difficult to be met by general robots, so to some extent, biped humano...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 龚道雄孙晓英付龙王宝平杜雨谦
Owner 廊坊市奥联科技有限公司
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