Mechanical structure of three-dimensional human-simulated biped walking robot and walking method

Abstract

The invention discloses a mechanical structure of a three-dimensional human-simulate biped walking robot. The mechanical structure comprises a trunk, two hip joints arranged in symmetry, an angle bisection mechanism, an arm-thigh coupling mechanism, and leg mechanisms arranged in symmetry in sequence from top to bottom, wherein the leg mechanism at each side comprises a thigh, a knee joint, a shank, an ankle joint, and a vola in sequence from top to bottom, and the trunk is provided with a master control chip. According to the mechanical structure, based on related principle of passive mechanics, the human-simulation degree is high, the problems of low energy efficiency and stiff gait of the conventional robot are effectively solved, the robot can serve as exoskeleton to help the disabled to realize walking and serve as walking equipment in future wars, and the individual combat ability is improved. The invention also discloses a waking method for the mechanical structure of the three-dimensional human-simulated biped walking robot.

Description

technical field [0001] The invention relates to a robot, and more specifically relates to a mechanical structure and a walking method of a three-dimensional humanoid biped walking robot based on passive dynamics. Background technique [0002] The invention relates to the design of a humanoid walking robot. As the name implies, a humanoid robot is defined from the perspective of the shape and function of the robot. Different from the concept of an industrial robot, a humanoid robot has a shape similar to that of a human body. In terms of the way of movement, humanoid robots are different from multi-legged walking and wheel-tracking and other composite chassis movement methods, and use the alternating movement of legs similar to human walking to achieve walking. Among all human-like behaviors, one of the biggest features that robots should have is the walking function. Therefore, the research on humanoid biped walking robots is of great importance for in-depth analysis of hum...

AI Technical Summary

Problems solved by technology

[0005] Purpose of the invention: Aiming at the defects of traditional active humanoid bipedal walking robots, such as high energy consumption and complex control principle, this invention will design a bipedal robot with a high degree of human imitation and can realize three-dimensional passive walking based on the principle of passive dynamics. human robot mechanism

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