Upper body-halving walking device

Abstract

The invention discloses an upper body-halving walking device, comprising a hip portion and a leg portion. The leg portion comprises two walking legs, the hip portion comprises a support, a horizontal threaded lead screw is arranged at the upper end of the support, the lower end of the support is provided with a main shaft perpendicular to the threaded lead screw, and connectors positioned on both sides of the support are arranged on the main shaft; two sections of external threads on which sliding blocks are arranged are arranged on the threaded lead screw, and a dual-hinge connecting rod is arranged between the sliding block and the connector on the same side of the support and used for connecting the two; the walking legs are rotationally installed on the corresponding connectors in a matched way. The upper body-halving walking device also comprises a walking power mechanism. The walking power mechanism comprises a straightly walking power mechanism and a transversely walking power mechanism. The straightly walking power mechanism comprises a straightly walking power device, the output shaft of the straightly walking power device is in commission connection with the main shaft, and transmission mechanisms are arranged between the main shaft and the two walking legs; the transversely walking power mechanism comprises transverse power devices used for driving the two sliding blocks to synchronously move in the same direction or in the opposite directions, and the transverse power devices are in commission connection with the threaded lead screw.

Description

technical field [0001] The invention relates to a walking device, in particular to a bifurcated upper body walking device. Background technique [0002] Walking is a fundamental problem in the study of humanoid robots. At present, most robots in the world are driven in real time to imitate human walking patterns, which will lead to the disadvantages of slow robot walking and energy consumption ten times higher than that of humans, which seriously restricts the robot's battery life, operation, and load capacity. [0003] Passive dynamic walking is a method for studying bipedal (two-legged) walking systems, including humans or other bipedal animals, or bipedal walking robots that you want to make or control. Passive dynamic walking is one way of looking at bipedal walking. Rather than seeing it as a constant effort to maintain balance, bipedalism can be better understood as a constant passive fall interrupted by intermittent interruptions of foot contact changes. A series o...

AI Technical Summary

Problems solved by technology

[0005] Although the existing biped walking robots based on passive dynamics can meet the technical purpose of imitating human walking to a certain extent, there are still deficiencies in the control of the balance of walking.

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