A three-dimensional humanoid walker and its control method

Abstract

The invention relates to a three-dimensional human-simulating walking device and a control method thereof, and belongs to the technical field of robots. The walking device comprises a control block, a controlled block, a transmission shaft, a left straight leg, a right straight leg and foot structures. The left straight leg is connected with the right straight leg through the transmission shaft; the foot structures are located at the bottom of the left straight leg and the bottom of the right straight leg, all the foot structures comprise back foots and side foots, and pressure sensors are arranged on the back foots. The control block is fixed on the left (right) straight leg, and comprises a motor, a main control panel, a data collecting device and a power source. The main control panel drives the motor according to data returned by the data collecting device and the pressure sensors to supply power to the walking device, and the power source is used for supplying power to all energy-dissipation devices. The controlled block is fixed on the right (left) straight leg, the controlled block and the control block are correspondingly arranged in position, a groove connected with the transmission shaft is formed in the controlled block, the protruding side of the transmission shaft is fixed in the groove in the controlled block, the other end of the transmission shaft is fixed on the motor, and the rotating torque of the motor is transmitted to the controlled block from the control block through the transmission shaft. The three-dimensional human-simulating walking device and the control method thereof have the broad application prospects in the rehabilitation therapy field of legs and feet, the toy field and the military field.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a three-dimensional humanoid walker and a control method thereof. Background technique [0002] At present, the research of robots is a hot spot all over the world, especially the research of biped walking robots in anthropomorphic form is in full swing. The currently available biped walking devices have achieved many achievements worthy of recognition on humanoid walking, but generally there are still some defects, including: 1) not a complete biped robot, including the Ranger of Cornell University. , it uses four legs to realize the function of pure two legs, which can only be regarded as walking in a two-dimensional sense; Human form, but a fully active robot consumes a lot of energy; 3) Although it has a complete biped walking form, the feet are too wide, there is no good morphological anthropomorphic effect, and the device structure is too complicated, such as : Denise from D...

AI Technical Summary

Problems solved by technology

The currently available biped walking devices have made many achievements worthy of recognition on humanoid walking, but generally there are still some defects, including: 1) not a complete biped robot, including the Ranger of Cornell University. , it uses four legs to realize the function of pure two legs, which can only be regarded as walking in a two-dimensional sense; Human form, but a fully active robot consumes a lot of energy; 3) Although it has a complete bipedal walking form, the feet are too wide, there is no good morphological anthropomorphic effect, and the device structure is too complicated, such as : Denise from Delft University in the Netherlands, Toddler from MIT, etc.

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