Biped semi-passive walking device and walking control method thereof

Abstract

The invention discloses a bipedal semi-passive walker which comprises a hip portion and two leg portions. The hip portion comprises a hip portion balance plate and supports arranged on the lower sides of the two ends of the hip portion balance plate respectively; each leg portion comprises a connecting plate, a thigh and a shank, the bottom of each shank is provided with a simulation foot plate, the thighs and the connecting plates are in hinged connection, the shanks and the thighs are in hinged connection, a knee joint mechanism is formed between each thigh and the corresponding shank, and each connecting plate is hinged to the corresponding support; hip twisting mechanisms for driving the hip portions to twist are arranged between the hip balance plate and the supports respectively; leg portion stretching mechanisms for driving the thighs to swing left and right are arranged between the supports and the connecting plates; leg portion advancing mechanisms for driving the thighs to swing front and back are arranged between the connecting plates and the thighs; knee joint acting mechanisms for driving the knee joint mechanisms to do bending and straightening motion are arranged between the connecting plates and the knee joint mechanisms. The invention further discloses a walking control method of the bipedal semi-passive walker.

Description

technical field [0001] The invention relates to a walking device, in particular to a biped semi-passive walking device and a walking 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 bipedal walkers have made many achievements worthy of recognition in humanoid walking, but generally there are still some defects, such as (1) not a complete bipedal 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; (2) the energy consumption is too large to be suitable for practical applications, including the Asimo of Japan's HONDA company, although it has a complete Humanoid form, but a fully active robot consumes a lot of energy. (3) Of course, there are also passive walking devi...

AI Technical Summary

Problems solved by technology

The currently available bipedal walkers have made many achievements worthy of recognition in humanoid walking, but generally there are still some defects, such as (1) not a complete bipedal 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; (2) the energy consumption is too large to be suitable for practical applications, including the Asimo of Japan's HONDA company, although it has a complete Humanoid form, but a fully active robot consumes a lot of energy

(3) Of course, there are also passive walking devices with a relatively complete humanoid form, but they use wide feet, which cannot simulate the lateral movement process of human walking, and thus cannot achieve fully human-like semi-passive walking

Although the straight-leg walking device with two feet and upper body has achieved the technical purpose of simplifying the structure to a certain extent, it cannot completely simulate human walking because it uses straight legs without knees.

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