An underactuated traveling device and its turning control method

Abstract

The invention relates to an under-actuated running gear and a turning control method thereof. The running gear comprises legs formed by inner side legs and outer side legs, the inner side legs and the outer side legs are connected by a crankshaft. The inner side legs are rotatably arranged on an inner horizontal shaft. The two outer side legs are respectively rotatably arranged on outer horizontal shafts on two ends. An elevating hip joint is fixed on the left side or the right side of an upper body platform, and comprises a sliding block, a screw motor and a sliding rail. The center of the sliding block is provided with threads. A screw passes through the middle of the sliding block. The screw is connected with the screw motor which is fixed on the upper body platform. A fixed hip joint is fixed on the right side of the left side of the upper body platform. The upper body platform is provided with four supports. The two supports on the middle are supported on two ends of a middle shaft. The middle shaft rotatably passes through two supports on the inner side of the platform. Support short shaft rotatably pass through a support on the outer side of the platform. The screw motor is on the central lower position of two supports on the left or on the right, and is fixedly connected with the platform. The running gear is low in power consumption, simple in structure, and good in stability. The running gear realizes flexible turning through simple control.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to an underactuated traveling device and a turning control method thereof. Background technique [0002] As the basic function of humanoid robot, walking has important research significance. The traditional active walking method, based on ZMP theory, imitates human walking by precisely controlling joint angles and adjusting body posture. Although it is relatively easy to implement, the steps are heavy and consume too much energy. The most advanced humanoid robot represented by Japan's Honda's Asimo has a walking energy consumption rate 10 times higher than that of a human, causing the battery to be exhausted within a few hours, severely limiting the working time, range of activities, load capacity, and service life. index. [0003] Therefore, the high energy consumption of walking is a key problem that plagues the research of robots, especially today when the battery capacity has not...

AI Technical Summary

Problems solved by technology

The traditional active walking method, based on the ZMP theory, imitates human walking by precisely controlling the joint angle and adjusting the body posture. Although it is relatively easy to implement, the steps are heavy and the energy consumption is too large

The most advanced humanoid robot represented by Japan's Honda's Asimo has a walking energy consumption rate 10 times higher than that of a human, causing the battery to be exhausted within a few hours, severely limiting the working time, range of activities, load capacity, and service life. index

[0003] Therefore, the high energy consumption of walking is a key problem that plagues the research of robots, especially today when the battery capacity has not been significantly broken through for many years.

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