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An Underactuated Biped Robot

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

Inactive Publication Date: 2017-08-29
NINGBO INST OF TECH ZHEJIANG UNIV ZHEJIANG
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  • Summary
  • 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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  • An Underactuated Biped Robot
  • An Underactuated Biped Robot
  • An Underactuated Biped Robot

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Embodiment Construction

[0018] The present invention will be further described below in conjunction with the 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 the legs, and make the legs rotate at multiple angles relative to the waist, that is, to simulate the relationship between the thigh and the pelvis in the human body structure Hip joint. In the same way, the ankle joint refers to a multi-angle rotation mechanism used to connect the leg and the sole, that is, the ankle joint that simulates the sole and the lower end of the calf in the human body structure.

[0020] As shown in the figure, the present invention provides an under-actuated biped robot, which includes a waist 1, a leg 2 and a sole 3. The upper end of the leg 2 is connected to the waist 1 through a hip joint 4, and the leg 2 The lower end and the sole 3 are connected by the ankle joint 5, and the legs 2 and the soles 3 are both ...

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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 under-actuated biped robot. Background technique [0002] The biped robot is a kind of humanoid robot, and its walking mechanism realizes a movement mode similar to that of a human being alternately moving forward by controlling multiple movement pairs. Therefore, compared with the crawler or wheeled robot in the prior art, it has a better ability to overcome obstacles. For example, the biped walking robot with the application publication number CN103010330A, and the fast walking biped robot with the application publication number CN104228993A. However, in the existing biped robot, the rotation of one motion pair in the walking mechanism corresponds to one driver. Therefore, not only does it require a large number of drivers and rotating mechanisms, but also the flexibility of rotation when multiple rotating pairs are required to achieve linkage Poor and low precision, this is als...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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