A three-legged underactuated walking device and its control method

An underactuated and walker technology, applied in the field of robots, can solve the problem of high energy consumption of four-legged underactuated robots, and achieve the effect of overcoming the defect of foot wiping, good stable performance, and solving high energy consumption.

Active Publication Date: 2019-12-24
JIANGHAN UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The invention provides a three-legged underactuated walking device and its control method, which solves or partially solves the technical problem of high energy consumption of four-legged underactuated robots in the prior art

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  • A three-legged underactuated walking device and its control method
  • A three-legged underactuated walking device and its control method
  • A three-legged underactuated walking device and its control method

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Embodiment Construction

[0042] The three-legged underactuated walking device and its control method provided by the embodiments of the present application solve or partially solve the technical problem of high energy consumption of quadruped underactuated robots in the prior art.

[0043] The technical solution in the embodiment of the present application is to solve the above-mentioned technical problems, and the general idea is as follows:

[0044] See attached figure 1 , the application adopts a three-way system consisting of an inner swing leg 1, a pair of outer swing legs 2, a push rod motor 3, a motor 6, two first T-type couplings 4 and two second T-type couplings 7. The foot underactuated walker drives the inner swing leg 1 and the outer swing leg 2 through the cooperation of the motor 6 and the push rod motor 3 to realize the two-dimensional underactuated walking of the three-legged underactuated walker. During the walking process, when the outer swing leg When 2 is a supporting leg, the mot...

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Abstract

The invention relates to a three-legged under-actuated walker and a control method thereof. The three-legged under-actuated walker comprises an internal swinging leg, a pair of external rocking legs,a pushing rod motor, a motor, two first T-shaped shaft couplings and two second T-shaped shaft couplings, wherein the internal swinging leg is fixed at the bottom of the motor; first fixed smooth shafts and second fixed smooth shafts are arranged on the external rocking legs; pushing shafts, which act in a mirror synchronization manner, are symmetrically arranged at the two ends of the pushing rodmotor; rotating shafts are symmetrically arranged at the two ends of the motor; length end parts of the first T-shaped shaft couplings are fixedly connected with the corresponding pushing shafts of the pushing rod motor; transverse end parts of the first T-shaped shaft couplings are rotationally connected with the first fixed smooth shafts; length end parts of the second T-shaped shaft couplingsare fixedly connected with the corresponding rotating shafts of the motor; and the transverse end parts of the second T-shaped shaft couplings are rotationally connected with the second fixed smooth shafts. According to the three-legged under-actuated walker and the control method thereof, two-dimensional under-actuated walking is realized, good stability performance is achieved, a defect that feet shuffle on floors can be overcome, the dynamic walking process can be sufficiently utilized, and the energy consumption of the walker can be reduced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a three-legged underactuated walking device and a control method thereof. Background technique [0002] Since the theory of passive walking was proposed, the active control methods of traditional robots have been improved, and a series of semi-passive bionic robots have emerged. Based on the passive walking theory, there is no need for real-time drive control of the joints, so the robot designed using this theory has low energy consumption, a wider range of motion, and a longer service life. [0003] Most of the underactuated robots in the prior art are quadrupeds, which increases energy consumption on the basis of increasing its stability. Contents of the invention [0004] The invention provides a three-legged underactuated walking device and a control method thereof, which solves or partially solves the technical problem of high energy consumption of a four-legged underactua...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 熊诗琪李鹏罗会容吴向成齐卉
Owner JIANGHAN UNIVERSITY
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