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Under-actuated biped robot

A bipedal robot and underactuated technology, applied in the field of robotics, can solve the problems of a large number of drives and rotating mechanisms, low precision, and poor flexibility

Inactive Publication Date: 2015-10-21
NINGBO INST OF TECH ZHEJIANG UNIV ZHEJIANG
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in the existing biped robots, the rotation of one kinematic pair in the walking mechanism corresponds to one driver, so not only the required number of drivers and rotating mechanisms is large, but also the flexibility of rotation is limited when multiple rotating pairs are required to realize linkage. Poor and low precision, this is also the problem that the existing humanoid robots in the industry are eager to achieve humanoid fast walking

Method used

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Embodiment Construction

[0018] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0019] The definition of hip joint 4 described in this article refers to a rotation mechanism used to connect the waist and legs and make the legs rotate at multiple angles relative to the waist, that is, to simulate the gap between the thigh and the pelvis in the human body structure. of the hip joint. Similarly, the ankle joint refers to the multi-angle rotation mechanism used to connect the leg and the sole, that is, the ankle joint that simulates the sole of the human body and the lower end of the calf.

[0020] As shown in the figure, the present invention provides a kind of underactuated bipedal robot, and it comprises waist 1, leg 2 and sole 3, and the upper end of described leg 2 is connected with waist 1 through hip joint 4, and the upper end of described leg 2 The lower end is connected to the sole 3 through the ankle joint 5, and th...

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Abstract

The invention discloses an under-actuated biped robot which comprises a waist, legs and foot soles. The upper ends of the legs are connected with the waist through hip joints. The lower ends of the legs are connected with the foot soles through ankle joints. The under-actuated biped robot is characterized in that each of the ankle joints comprises three driving rods arranged on any three non-overlapped vertical planes where the central axis of the corresponding leg is located, wherein the upper ends of all the driving rods are respectively hinged to the legs, the lower end of each driving rod is hinged to a driven rod, and the lower end of each driven rod is connected with the corresponding foot sole through a spherical joint. According to the under-actuated biped robot, rotation of the joints at any angle is controlled by a plurality of drivers in a linkage mode, so that the flexibility of rotation of the joints at any angle is good, and the precision of rotation of the joints at any angle is high.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an underactuated biped robot. Background technique [0002] Biped robot is a kind of humanoid robot. Its walking mechanism realizes the movement mode similar to that of human biped alternately by controlling multiple motion pairs. Therefore, it has a better ability to overcome obstacles than crawler or wheeled robots in the prior art. For example, the biped walking robot whose application publication number is CN103010330A, and a fast walking biped robot whose application publication number is CN104228993A. However, in the existing biped robots, the rotation of one kinematic pair in the walking mechanism corresponds to one driver, so not only the required number of drivers and rotating mechanisms is large, but also the flexibility of rotation is limited when multiple rotating pairs are required to realize linkage. Poor and low precision, this is also the problem that the existin...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 张智焕胡超
Owner NINGBO INST OF TECH ZHEJIANG UNIV ZHEJIANG
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