An Underactuated Biped Walking Robot Based on Flexible Actuators

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 ...

AI Technical Summary

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 efficiency, natural gait, close to the actual walking motion of human beings, relatively simple production, and easy to realize; the disadvantages are: high difficulty in control, difficult to guarantee the stability of motion, and difficult to realize climbing up and down stairs and crossing obstacles more complex movements

Although the invention has the advantages of simple structure, fast adjustment, and easy control, the structure is not compact enough to be easily applied to biped walking robots.

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