A two-dimensional robot walking device and its control method
A walking device and robot technology, applied in the field of robotics, can solve problems such as high energy consumption and complex structure of underactuated robots
Active Publication Date: 2019-12-20
JIANGHAN UNIVERSITY
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Problems solved by technology
[0004] The invention provides a two-dimensional robot walking device and its control method, which solves or partly solves the technical problems of complex structures and high energy consumption of underactuated robots in the prior art
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[0039] The two-dimensional robot walking device and its control method provided by the embodiments of the present application solve or partially solve the technical problems of the underactuated robot in the prior art, which have a complex structure and high energy consumption.
[0040] 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:
[0041] See attached figure 1 , the application adopts a pair of inner swing legs 1, a pair of outer swing legs 2, a push rod motor 4, a support plate 5, two motors 6, two first T-type couplings 3 and two second T-type The two-dimensional robot walking device composed of couplings drives the inner swing leg 1 and the outer swing leg 2 through the cooperation of the motor 6 and the push rod motor 4 to realize the two-dimensional underactuated walking of the two-dimensional robot walking device. During the walking process, When the outer swi...
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The invention relates to a two-dimensional robot running device and a control method thereof. The two-dimensional robot running device comprises a pair of internal swinging legs, a pair of external rocking legs, a pushing rod motor, a supporting plate, two motors, two first T-shaped shaft couplings and two second T-shaped shaft couplings; the pair of internal swinging legs is symmetrically fixed at the two ends of the bottom of the supporting plate; first fixed smooth shafts and second fixed smooth shafts are arranged on the external rocking legs; pushing shafts whose mirror images synchronously act are symmetrically arranged at the two ends of the pushing rod motor; rotating shafts are arranged on the motors; the long end parts of the first T-shaped shaft couplings are fixedly connected with corresponding pushing shafts of the pushing rod motor; the cross end parts of the first T-shaped shaft couplings are rotationally connected with the first fixed smooth shafts; the long end parts of the second T-shaped shaft couplings are fixedly connected with the rotating shafts of the corresponding motors; and the cross end parts of the second T-shaped shaft couplings are rotationally connected with the first second smooth shafts. The two-dimensional robot running device has the advantages of simple structure and good stability; and according to the control method, the defect that feet scrape the floor can be overcome, and the energy consumption of running device can be reduced.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a two-dimensional robot walking device and a control method thereof. Background technique [0002] Biped robot technology promotes the development of science and technology, and can complete walking tasks in complex environments, which has important research significance. Traditional robots are controlled based on ZMP technology, and the walking process needs to drive the joints of the whole body in real time, resulting in unnatural gait and high energy consumption. McGeer proposed the passive walking theory, which has inherent stability and low energy consumption. Robots designed using the passive walking theory have longer working hours, larger range of activities, and longer service life. [0003] The underactuated robot in the prior art has a complex structure and high energy consumption. Contents of the invention [0004] The invention provides a two-dimensional robot wal...
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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 熊诗琪齐卉李鹏罗会容吴向成
Owner JIANGHAN UNIVERSITY