Humanoid robot trunk structure

A humanoid robot and torso technology, applied in manipulators, joints, manufacturing tools, etc., can solve problems such as complex structures of highly redundant joints, and achieve the effects of no complex components, simple structure, and diverse motion postures
CN106363642AInactive Publication Date: 2017-02-01HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
Publication Date
2017-02-01
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a humanoid robot trunk structure. The humanoid robot trunk structure is characterized in that the trunk structure is formed by connecting subunits in series; each subunit is provided with a cylindrical shell, the top face and the bottom face of each cylindrical shell are symmetrical slopes, and as for the two symmetrical side edges of each cylindrical shell, one side edge is short while the other side edge is long; a motor, an encoder and a driver are arranged in the cylindrical shell of each subunit; as for series connection of the subunits, the bottom face of each upper unit and the top face of the corresponding lower unit are connected through the upper surface and the lower surface of a speed reducer; and motors arranged in the lower units can drive the cylindrical shells of the upper units to rotate through the speed reducers so that the short edges of the subunits can be located on the same side and a trunk can be bent, or the short edges of every two adjacent subunits can be located on different sides and the trunk can be upright. The humanoid robot trunk structure is simple in structure, easy to control and good in bearing capacity, and can achieve three kinds of typical postures including leftward and rightward lateral swinging, forward and backward pitching and waist rotation like the trunk of a human being.
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Description

technical field

[0001] The invention relates to a torso structure of a humanoid robot, more specifically, a mechanism designed for the humanoid robot to realize three typical postures of a human torso: left and right side swing, front and rear pitch, and waist rotation. Background technique

[0002] A humanoid robot consists of a head, limbs and torso. The upper limbs can grasp and operate, the lower limbs can walk, and the torso has the functions of supporting the body and coordinating the limbs, which is very important for the robot to achieve good mechanical and motion performance. . Taking humans as the source of inspiration for bionic design, researchers around the world have carried out a lot of research on the bionic design of robot limbs. However, in terms of torso research, although the human spine has many advantages such as strong load capacity, high flexibility, and large work space, due to the complex structure of highly redundant joints, there has been no rele...

Claims

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