Under-actuated walking apparatus and control method for same

A walking device and underactuated technology, applied in the field of robotics, can solve the problems of increased difficulty in building physical prototypes and control algorithms, complex models, etc., and achieve the effect of simple structure, large application space, and large parameter attraction field

Active Publication Date: 2015-10-21
GUANGZHOU ZUBU MEDICAL TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, there is currently no simple structure applied to 2D passive walking to solve the problem of swinging legs rubbing the ground. Rotating the knee joint or ankle joint requires additional degrees of freedom, which will make the model more complicated. The corresponding physical prototype is built. and control algorithms will increase the difficulty

Method used

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  • Under-actuated walking apparatus and control method for same
  • Under-actuated walking apparatus and control method for same
  • Under-actuated walking apparatus and control method for same

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Embodiment Construction

[0025] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0026] figure 1 It is a schematic diagram of the physical model of the present invention, as shown in the figure, the length of the crankshaft of the hip is d, the radius of rotation of the crankshaft is r (for changing the telescopic length of the legs and the size of the walking gait), the angle of rotation of the crankshaft is α, the hip The mass center of the upper part is m, the mass center mass of the lower part of the hip is M; the angle between the swing leg and the support leg is φ, the angle between the support leg and the vertical line of the ground is θ; the elastic coefficient of the torsion spring of the double torsion joint is k; The slope angle is γ.

[0027] like figure 2 , 3 As shown, the whole device includes hips (1, 2), legs (3, 4), main control device (5) and transmission device (6); the hip joint support (22) is t...

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Abstract

The invention relates to an under-actuated walking apparatus and a control method for the same and belongs to the technical field of semi-actuated walking. The apparatus comprises a crankshaft, a platform, a supporting block, hip parts, leg parts and a control device, wherein the crankshaft provides rotating power for the leg parts; the supporting platform can support the walking device; a left hip joint and a right joint and the control device are fixed on the platform; the hip parts are included by a left hip part and a right hip part; each hip part is connected with an internal straight leg and an external straight leg via a crankshaft rocking rod; the lower end of each straight leg is fixedly connected with a spherical foot part; the control device is formed by a data collection device, a driving device and a main control device; information acquired by the data collection device can be processed by the main control device in real time; and rotating speed of the a transmission motor can be adjusted by the driving device controlled by the control device. The under-actuated walking apparatus is simply structured with convenient use and easy manufacturing; a problem that 2D walking swinging legs have friction with the ground can be overcome; the walking apparatus can walk naturally, possesses large parameter attraction domain and low energy consumption; and the under-actuated walking apparatus possesses large application use in daily life.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a semi-passive walking technology, in particular to an underactuated walking device and a control method thereof. Background technique [0002] Nowadays, robot technology is a research hotspot all over the world, especially the research of passive walking robot is the cutting-edge technology in this field. At present, good results have been achieved in the research of semi-passive walking robots at home and abroad, and various prototypes have been developed. For example, the Ranger robot of Cornell University is currently the most successful 2D semi-passive walker in the world, and its walking energy efficiency is very close to that of human walking. MIT's 3D semi-passive walking robot Toddler, the foot design enables the walking device to avoid swinging legs from touching the ground in advance by swinging left and right. It is currently the most intelligent passive walking device. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 李清都熊诗琪胡文亚杨芳艳刘国栋樊锁钟金雪亮蔡浩刘娣
Owner GUANGZHOU ZUBU MEDICAL TECH CO LTD
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