Biped semi-passive bipedal upper body walking robot

Abstract

The invention discloses a biped semi-passive bipartition upper body walking robot which comprises a hip and two legs. The hip comprises a hip support and two lateral swinging parts, the lateral swinging parts are rotatably mounted on the hip support in a matched manner, a lateral swinging drive mechanism is arranged on the hip support, rotating parts are arranged on the lower portions of the lateral swinging parts respectively, a first rotating shaft is arranged on each rotating part and matched with the corresponding lateral swinging part, leg expansion drive mechanisms are arranged among the hip and the rotating parts, each leg comprises a thigh, a shank and an imitation foot plate, second rotating shafts are arranged on the rotating parts, thigh connectors are arranged at the upper end of the thighs and rotatably sleeve the second rotating shafts in a matched manner, front and back swinging drive mechanisms are arranged on the rotating parts, the shanks are hinged to the thighs, a knee joint drive mechanism is arranged between each thigh and the corresponding shank, the imitation foot plates are rotatably mounted at the bottoms of the shanks through ankle joint rotating shafts in a matched manner, the ankle joint rotating shafts are parallel to the second rotating shafts, and ankle joint drive mechanisms are arranged among the imitation foot plates and the hip or the legs.

Description

technical field [0001] The invention relates to a walking device, in particular to a bipedal semi-passive biped upper body walking robot. 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 inte...

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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