Straight-leg walking device with two feet and upper body
A walker and upper body technology, applied in the fields of toys, military applications, and rehabilitation medicine, can solve the problems of inability to simulate the lateral movement process of human walking, failure to achieve semi-passive walking, and high energy consumption.
Active Publication Date: 2017-07-25
中原动力智能机器人有限公司
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Problems solved by technology
The currently available biped walkers have made many achievements worthy of recognition in humanoid walking, but generally there are still some defects, such as (1) not a complete biped robot, 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) Of course, there are also passive walking devices with a relatively complete humanoid form, but they use wide feet, which cannot simulate the lateral movement process of human walking, and thus cannot achieve fully human-like semi-passive walking
Method used
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[0015] see figure 1 and figure 2 , a straight leg walker with two feet and upper body, comprising a hip and upper body connection part 1 and a hip and leg foot connection part 2; the hip and upper body connection part 1 includes an upper body 3, which is fixed in the upper body 3 The main control circuit board 4, the hip L 5 and the hip R 6 connected with the upper body 3 respectively, the inside of the hip L 5 and the hip R 6 are respectively fixedly provided with the motor M17 and the motor for controlling the swing angle of the hip and the foot M28, and spring system L 9 and spring system R 10; said hip and leg-foot connection part 2 includes leg L 11 and leg R 12 fixedly connected with hip L 5 and hip R 6 respectively, leg The bottom end of L 11 and leg R12 is hinged with foot L 13 and foot R 14, and is arranged inside hip L 5 and hip R 6 to control the motor A 15 and motor for raising and lowering the foot L13 and foot R14 B 16, and spring system A 17 and spring system...
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The invention discloses a two-foot straight leg walker provided with an upper body. The body of the walker is composed of two portions which are the hip and upper body connecting portion and the hip and leg and foot part connecting portion, wherein the hip and upper body connecting portion comprises the upper body to which a main device control panel is fixed, motors M1 and M2 which are connected with the hip and the upper body and control the included angle between each leg and the upper body, and spring systems R and L, and the hip and leg and foot part connecting portion comprises legs fixedly connected with the hip, feet hinged to the bottom ends of the legs, motors A and B which control the feet to rise and fall, and spring systems A and B with two ends fixed to the legs and middle connected with the motor A and the foot L and also connected with the motor B and the foot R through belts. The walker further comprises sensors placed in all the control units. According to the walker, semi-passive walking is achieved through energy compensation; the legs are straight legs without knees, so that control method is simple; collision between the feet and the ground can be avoided by controlling foot lifting; furthermore, the gait of the passive walker can be affected by the upper body, so that natural and energy-saving walking is achieved.
Description
technical field [0001] The invention relates to the fields of rehabilitation medicine, toys and military applications, in particular to a straight-leg walking device with two feet and upper body. Background technique [0002] At present, the research of robots is a hot spot all over the world, especially the research of biped walking robots in anthropomorphic form is in full swing. The currently available biped walkers have made many achievements worthy of recognition in humanoid walking, but generally there are still some defects, such as (1) not a complete biped robot, 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) Of course, the...
Claims
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IPC IPC(8): B62D57/032A61F2/60
Inventor 李清都金雪亮杨芳艳曾光蔡浩刘国栋唐俊刁建李永樊锁钟
Owner 中原动力智能机器人有限公司