An Underactuated Biped Robot

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...

AI Technical Summary

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

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