A three-legged underactuated walking device and its control method

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...

AI Technical Summary

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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