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Completely passive both-foot walking machine with bionic ankle and subtalar joints

A leg joint and walking machine technology, applied in the field of robotics, can solve problems such as poor stability and unnatural gait, achieve the effect of optimizing walking energy efficiency, improving walking stability and naturalness

Active Publication Date: 2016-11-09
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a completely passive biped walking machine with talon-leg joints and talus-heel joints in order to solve the ubiquitous problems of poor stability and unnatural gait in existing fully passive biped walking machines, The fully passive biped walking machine has the characteristics of low energy consumption, good stability, and natural gait.

Method used

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  • Completely passive both-foot walking machine with bionic ankle and subtalar joints
  • Completely passive both-foot walking machine with bionic ankle and subtalar joints
  • Completely passive both-foot walking machine with bionic ankle and subtalar joints

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Embodiment Construction

[0025] see figure 1 , figure 2 , image 3 , Figure 4 and Figure 5 As shown, the present embodiment comprises hip assembly 1, leg assembly 2, distance-leg joint assembly 3, distance-heel joint assembly 4, left sole 5, right sole 6, toe assembly 7; The assembly 2 is arranged between the hip assembly 1 and the talus-leg joint assembly 3, and constitutes the main part of the walking machine; the talus-heel joint assembly 4 is arranged between the talus-leg joint assembly 3 and the sole of the foot, and the toes The assembly 7 is distributed on both sides of the sole of the foot; the sole of the foot includes the sole of the left foot 5 and the sole of the right foot 6 .

[0026] The hip assembly 1 includes a counterweight 11, a hip crossbeam 13, a first bearing seat 14, and a hip connector 110. The counterweight 11 is plugged into the hip crossbeam 13 through a counterweight fixing pin 12. The first The bearing housings 14 are symmetrically distributed, and are respectivel...

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Abstract

The invention discloses a completely passive both-foot walking machine with bionic ankle and subtalar joints, comprising a hip assembly, leg assemblies, ankle joint assemblies, subtalar joint assemblies, a left foot, a right foot and toe assemblies, wherein each leg assembly is arranged between the hip assembly and the ankle joint assembly, and a main body of the walking machine is constructed; each subtalar joint assembly is arranged between the ankle joint assembly and a foot, the toe assemblies are distributed at two sides of each foot. Foot joints disclosed by the invention comprise the ankle joint assemblies and the subtalar joint assemblies, the foot joints of the walking machine are designed by simulating the physiological angles of the ankle joints and the subtalar joints of a human in the space. Meanwhile, toes can realize an elastic start in the walking process under the effect of springs. According to the walking machine disclosed by the invention, the beneficial effects of the optimal walking energy efficiency, improvement of walking stability and naturality of the both-foot walking machine are achieved according to the passive walking principle and the introduction of the bionic ankle and subtalar joints.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a completely passive biped walking machine with bionic calcar-leg and calcar-heel joints. Background technique [0002] Because the biped walking robot has the shape and motion characteristics very close to human beings, it is suitable to replace human beings in daily life to complete a series of complicated and dangerous tasks. Therefore, in recent years, research work on biped walking robots has been widely carried out. However, most of the traditional biped walking robots based on active control adopt the control method of tracking the preset joint trajectory. Inferior question. [0003] In the 1980s, Canadian scholar T.McGeer put forward the theory of passive dynamics, which led to the concept of "robot passive walking". After that, a series of biped walking machines based on this concept came into being. Literature research shows that compared with active control walkin...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 钱志辉周亮任雷任露泉
Owner JILIN UNIV
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