A multi-segment bionic multi-degree-of-freedom spine structure for a humanoid robot

Abstract

The invention discloses a multi-segment bionic multi-degree-of-freedom spine structure of a humanoid robot. The multi-segment bionic multi-degree-of-freedom spine structure comprises a base provided with a plurality of spine fitting units sequentially in a stacked mode. Each single spine fitting unit comprises an upper disc and a lower disc, wherein a center shaft of the upper disc is rotationally connected with the center of the lower disc, a support round ring is arranged on the periphery of the lower disc, and the front end and the rear end of the lower disc are rotationally connected with the support round ring through a first rotary shaft; and the left end and the right end of the support round ring are rotationally connected with supports on the left side and the right side through second rotary shafts correspondingly, the lower disc is provided with a rotary mechanism used for driving the upper disc to rotate relative to the lower disc, a front-back swing mechanism used for driving the support round ring to swing front and back round the axial lines of the second rotary shafts is arranged under the support round ring, and a left-right swing mechanism used for driving the lower disc to swing left and right round the axial line of the first rotary shaft is arranged under the lower disc. The multi-segment bionic multi-degree-of-freedom spine structure has the advantages of being reasonable in structure, high in universality and capable of achieving typical moving postures of human trunks.

Description

technical field [0001] The invention relates to a humanoid robot, in particular to a multi-segment bionic multi-degree-of-freedom spine structure of a humanoid robot. Background technique [0002] Humanoid robots use human beings as the prototype of bionic research, and in terms of mechanism design, they imitate human joints to configure degrees of freedom to simulate human motion and action characteristics. But so far, the spine structure has not been effectively introduced into the design of the humanoid robot torso. It is shown that the torsos of more than 90% of humanoid robots are greatly simplified into waist joints with 1-3 degrees of freedom, and very few have 4 degrees of freedom. For example, Japan's ASIMO, South Korea's KHR and HUBO only set one degree of freedom in the waist; Japan's HRP robot has two degrees of freedom; Italy's iCub has three degrees of freedom; Japan's WABIAN-2 has four degrees of freedom in the torso degrees of freedom. These robots are rel...

AI Technical Summary

Problems solved by technology

Although these humanoid robots that highly imitate the structure of the human spine and muscle groups have better realized the characteristics of the robot's movement flexibility, they also face problems such as effective control and poor load capacity.

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