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A flexible waist structure suitable for biped robot and its design method

A biped robot and flexible waist technology, applied in the field of robotics, can solve the problems of large moment of inertia, affecting the stability of the robot, and easy shocks when starting and stopping, so as to reduce impact, improve practicability and durability, and reduce bearing moment Effect

Active Publication Date: 2020-08-14
ZHEJIANG UNIV
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  • Abstract
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Problems solved by technology

[0003] Since the upper body of the robot integrates various control, sensing, and functional components, the moment of inertia is large, and the requirements for the mechanical properties of the steering gear are high; it is easy to generate impact when starting and stopping, which affects the stability of the robot

Method used

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  • A flexible waist structure suitable for biped robot and its design method
  • A flexible waist structure suitable for biped robot and its design method
  • A flexible waist structure suitable for biped robot and its design method

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Embodiment Construction

[0046] In order to facilitate those skilled in the art to better understand the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments,

[0047] like figure 1 As shown, a two-degree-of-freedom rigid waist model is established first. Generally speaking, the function of the waist of a biped robot is auxiliary movement, with two degrees of freedom of pitch and swing. The rigid waist is the basis for the flexible waist model.

[0048] like figure 2 As shown, in order to improve the mechanical characteristics of the steering gear and the output of the compliant speed, it is considered to introduce the elastic serial drive (SEA) into the two degrees of freedom of the waist. The traditional elastic serial drive is to achieve precise torque control in the robot, and an elastic element is added between the driving mechanism and the driven structure. But the accuracy and real-time per...

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Abstract

The invention relates to a flexible waist structure model applicable to a two-foot robot and a design method of the flexible waist structure model. An elastic series driver is introduced into the design of the waist structure of the two-foot robot, flexibility on two degrees of freedom of pitching and swing is achieved by means of one set of compact elastic structure, waist steering gear mechanical properties can be effectively improved, the impact load is reduced, and a protection limiting function is also achieved. Meanwhile, the invention provides a plurality of design principles and a complete design flow of the flexible waist structure.

Description

technical field [0001] The invention belongs to the technical field of robots, and proposes a two-degree-of-freedom flexible waist structure suitable for biped robots and a design method thereof. Background technique [0002] A biped robot is a robot that imitates the structural characteristics of human beings, and its ultimate goal is to achieve motion behavior similar to human beings. The current mainstream biped robot relies on the deflection of the hip joint and ankle joint to realize the offset of the overall center of mass, and then realize various movements. In this way of movement, the robot has a large torsion range and low stability, which is quite different from the human walking posture. The introduction of the waist can drive the deflection of the center of mass through the auxiliary movement of the upper body, reduce the deflection of the hip and ankle joints, and make the gait more humanoid. [0003] Since the upper body of the robot integrates various contr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00
CPCB25J9/0009B25J19/007
Inventor 甘春标能一鸣田蒋仁袁海辉徐小锋叶靖朱小京
Owner ZHEJIANG UNIV
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