A bipedal robot walking mechanism with linear joints

Abstract

The invention discloses a biped robot travelling mechanism containing a linear joint. The biped robot travelling mechanism containing the linear joint comprises a waist mechanism, wherein one leg mechanism is arranged at each of the two sides of the waist mechanism, the two leg mechanisms are respectively connected with the waist mechanism by virtue of a hip joint, and the bottom of each leg mechanism is connected with a foot mechanism; each leg mechanism comprises a leg body, the linear joint is cooperatively arranged in the leg body, the linear joint comprises a driving part and a driven part, the driven part is connected with a lateral rotary power device by virtue of a connecting piece, the driving part operates to drive the driven part to do linear vertical motion, then the leg body moves up and down and lifts a leg, the lateral rotary power device operates to drive the leg body to swing forward and backward, the lateral rotary power devices of the two leg mechanisms alternately operate to drive the leg body to realize an alternate leg striding action. Thighs, knee joints and shanks of a biped robot are integrated into one complete linear joint, and the biped robot travelling mechanism containing the linear joint has the characteristics of simple mechanism, easy maintenance, low energy consumption and strong weight bearing capability.

Description

Technical field [0001] The invention relates to the technical field of robots, in particular to a biped robot walking mechanism containing linear joints. Background technique [0002] The biped robot can perform basic human motion functions and is the closest robot to humans. The research on the dynamic walking mechanism of biped robots can give us a deeper understanding of the nature of human activities and contribute to the development of biomedicine and sports science. [0003] At present, the more successful biped robots include the "petman" and "Atlas" of Boston Dynamics, the "NAO" robot of Aldebaran Robotics of France, and the "ASIMO" robot of Honda of Japan. In 2004, Chinese patent document CN1474737A disclosed a biped walking robot designed by Japan Giken Co., Ltd. This robot simulates the structure of the human body well and can achieve a high degree of personification in walking. This patent has led the bipedal walking robot for a long time. The system structure of the ...

AI Technical Summary

Problems solved by technology

[0004] The biped robots designed by the above-mentioned products and inventions all simulate the structure of human legs, that is, there are obvious thighs, knee joints, and calves. This method has certain bionic properties in structure, but the biped robots support The legs have a certain knee-bending movement, as if a person walks in a Zhama step or a lunge. This kind of movement requires the joint actuator to continuously output a large torque to maintain the posture of the body. Walking with straight legs, which are supported by the bones of the legs, consumes more energy

And this kind of biped robot needs to control the thigh, knee joint, calf, etc. of the leg structure and the waist structure of the robot when walking, and a certain coordination relationship between the joints of multiple components is required to ensure the correct walking of the robot. Complex and difficult to operate

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