Biped semi-passive split upper body walking device

Abstract

The invention discloses a biped semi-passive split upper body walking device. The biped semi-passive split upper body walking device comprises a hip and two leg parts, wherein the hip comprises a hip balancing plate and supports, wherein a vertical rotating shaft is arranged on each support and is rotationally matched and connected with the hip balancing plate; vertical plates are separately arranged at the front ends and the rear ends of the supports; a side moving plate is arranged between every two vertical plates; horizontal rotating shafts I which are coaxial are arranged on the front sides and the rear sides of the side moving plates separately and are rotationally matched and connected with the corresponding vertical plates; the leg parts comprise thighs and shanks; the thighs are arranged on the side moving plates in a rotational fit manner; a front-back swing driving mechanism is arranged on each side moving plate; leg opening driving mechanisms for driving the two thighs to do synchronous opening motion in the deviating direction or a synchronous closing motion towards the opposite direction are arranged between the hip balancing plate and the side moving plates; the thighs are connected with the shanks in a hinging manner; in addition, semi-passive knee joint mechanisms are arranged between the thighs and the shanks; and hip twisting mechanisms for driving the two supports to synchronously rotate towards the opposite directions and further driving the hip to twist are arranged between the hip balancing plate and the supports.

Description

technical field [0001] The invention relates to a walking device, in particular to a biped semi-passive biped upper body walking device. Background technique [0002] At present, most of the robots in the world are driven in real time to imitate human walking patterns, which leads to slow walking of robots and ten times more energy consumption than humans. This seriously restricts the endurance, operation and load capacity of the robot. The introduction of the principle of passive walking provides a possible solution to achieve efficient natural walking. [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 inter...

AI Technical Summary

Problems solved by technology

[0005] The Chinese patent application whose publication number is CN 105730551A discloses a semi-passive biped biped upper body walking device, and the Chinese patent application whose publication number is CN104512493A discloses a gear-driven split upper body energy-saving passive walking device and its control method , although they all adopt the "halved upper body" walking structure, they are all realized by gear transmission, and there are problems with complex structures, and the stability during walking is a major problem that needs to be overcome

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