Narrow foot three-dimensional pure passive walker

Abstract

The invention discloses a narrow foot three-dimensional pure passive walker which comprises a pair of straight legs, a pair of narrow-arc-shaped feet which are connected to the lower ends of the legs through connectors and a hip made of a rigid rod-shaped shaft, joints, rotating around the hip, of the leg parts are replaced by bearings, and the legs are both provided with balance weights. According to the narrow foot three-dimensional pure passive walker, a complete biped walking form is achieved, the device is concise and exquisite, the lateral balance problem during walking is solved due to the novel foot design, the gait cycle can be adjusted by means of the leg design, and the leg and foot connector can adjust the length of the pace. The narrow foot three-dimensional pure passive walker has reference significance for research of rehabilitation of medical devices for the legs and the feet, has wider application prospect in the field of toys and even has great value and potential application in military application.

Description

Technical field [0001] The invention relates to a walking device, in particular to a device that can realize passive walking in a three-dimensional walking plane. Background technique [0002] At present, the research of robots is a hot spot in all countries in the world, especially the research of biped walking robots in anthropomorphic form is in full swing. The bipedal walking devices that have been available at present have made many achievements worthy of recognition in human-like walking, but generally there are still some shortcomings. For example, (1) bipedal robots are not in the full sense, including Ranger from Cornell University. , It uses four legs to realize the function of simple two legs, which can only be regarded as walking in a two-dimensional sense; (2) It consumes too much energy and is not suitable for practical applications, including ASIMO of Japan HONDA, although it has a complete Humanoid form, but a fully active robot consumes a lot of energy; (3) Alth...

AI Technical Summary

Problems solved by technology

The currently available biped walking devices have made many achievements worthy of recognition in humanoid walking, but there are still some defects in general, such as (1) not a biped robot in the full sense, including the Ranger of Cornell University. , it uses four legs to realize the function of pure two legs, which can only be regarded as walking in a two-dimensional sense; (2) it consumes too much energy and is not suitable for practical applications, including the ASIMO of Japan's HONDA company, although it has a complete Humanoid form, but a fully active robot consumes a lot of energy; (3) Although it has a complete bipedal walking form, the feet are too wide, there is no good morphological anthropomorphic effect, and the device structure is too complicated , such as: Denise from Delft University in the Netherlands, Toddler from MIT, etc.

(4) Although it has a complete bipedal 3D walking gait, the lateral movement in the walking process needs to be controlled, that is to say, it cannot achieve pure passive walking in the true sense, such as: A.D Ames, A.D Kuo et al. Arc foot 3D passive walker, etc.

Images