Under-actuated biped walking robot based on flexible drivers

A walking robot and flexible drive technology, applied in the field of robotics, can solve problems such as insufficiently compact structure, unnatural gait, and high energy consumption, and achieve the effects of convenient and fast disassembly, reduction of instantaneous torque, and anthropomorphic actions

Active Publication Date: 2016-05-25
WUHAN UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

The advantage of this control method is that: the movement mode of the robot can be precisely planned, and the robot can complete various complex movements within the allowable range of the drive power, which is convenient for precise control of bipedal movement; the disadvantage is: energy consumption Large, low efficiency, high performance requirements for the driver, unnatural gait, and a large difference from actual human motion
The advantages of this kind of walking are: high motion effici

Method used

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  • Under-actuated biped walking robot based on flexible drivers
  • Under-actuated biped walking robot based on flexible drivers
  • Under-actuated biped walking robot based on flexible drivers

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Embodiment

[0032] In terms of overall structural design, the present invention provides an underactuated biped walking robot based on a flexible driver, such as figure 2 As shown in , the robot has four degrees of freedom, including the joint module with only the pitch degree of freedom and the underactuated foot assembly. Each module is connected in a series-parallel manner, and the order is as follows: foot assembly F1—calf link E1—knee joint D1—thigh link C1—hip joint B1—crotch A—hip joint B2—thigh link C2—knee Joint D2—calf link E2—foot assembly F2. The rotation axes of each pitching degree of freedom are parallel to each other, and the robot is in an inverted U shape when standing. Such as figure 1 The figure shows that in the operating environment built by the robot, the robot as a whole can perform plane movement in the sagittal plane.

[0033] Such as image 3 Shown is the flexible actuator-based hip joint module of this biped walking robot. The pitch rotation degree of fre...

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Abstract

The invention discloses an under-actuated biped walking robot based on flexible drivers. The walking robot consists of four active joint modules based on the flexible drivers, a large (small) leg connecting rod and two under-actuated feet, wherein left and right legs are respectively provided with two joints, namely a hip joint and a knee joint, and only have pitching freedom degree; the feet are two semi-cylindrical components, have rolling friction with the ground and rotate around a contact line; in a constructed sport environment, the whole robot can perform planar motion in a sagittal plane. The flexible drivers are adopted for the four joints of the biped walking robot. The biped walking robot has the characteristics of natural walking gait, high energy efficiency, capability of effectively reducing instantaneous torque generated by collision borne by a driving motor, shock buffer and absorption, and the like; by virtue of an under-actuated mode, the robot has the characteristics of energy conservation and personification. The robot is capable of realizing an initiative walking function, simultaneously has good environmental suitability, low cost and low energy consumption, and can be widely applied to lower limbs structures of medical humanoid robots and humanoid robots serving for the disabled.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to an underactuated biped walking robot in which each active joint adopts a flexible driver. Background technique [0002] Humanoid robots are the most advanced manifestation in the field of robot technology development at present. They have a humanoid appearance and imitate human beings in terms of structure and walking style. The core technology and research difficulty of the stable operation of humanoid robots is to realize stable bipedal walking. [0003] From the history of robotics, bipedal walking has always been considered one of the most difficult challenges. As early as three decades before the appearance of the famous humanoid robots ASIMO, QRIO and HRP-2, bipedal walking has always been a difficult point in the development of walking robot technology. The earliest research and platform development can be traced back to the research work carried out by Kato Ichiro of Rice ...

Claims

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Application Information

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IPC IPC(8): B62D57/032B25J17/02
CPCB25J17/0208B62D57/032
Inventor 肖晓晖张强姚道金寇重光王杨陈潇
Owner WUHAN UNIV
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