Kneebend semi-passive walking robot and control method

Abstract

The invention discloses a kneebend semi-passive walking robot and a control method. The kneebend semi-passive walking robot comprises an outer-leg connecting rod, an inner-leg connecting rod, limitingrods, two outer legs, two inner legs, a driving device and a transmission device, wherein the inner legs comprise inner-leg upper portions and inner-leg lower portions, one ends of the inner-leg upper portions are connected with the inner-leg connecting rod, the other ends of the inner-leg upper portions are hinged to one ends of the inner-leg lower portions, and are provided with electromagneticdevices, magnets matched with the electromagnetic devices are arranged at one ends of the inner-leg lower portions, and the electromagnetic devices and the magnets are configured to control the inner-leg lower portions to rotate relative to the inner-leg upper portions. The semi-passive walking robot can achieve walking with a kneebend posture.

Description

technical field

[0001] The invention relates to the technical field of robots, in particular to a knee-bendable semi-passive walking robot and a control method. Background technique

[0002] The method of passive dynamic walking was first proposed by McGeer, which led to various insights about human walking and has produced some natural and effective walking machines. Mochon and Mcmahon modeled and analyzed the swing phase of human walking. In the model, it is assumed that there is no torque on the lower limbs. The force and joint angle values ​​calculated according to the model are in good agreement with normal human walking. Only the vertical direction The upper ground reaction does not fit well. The research results of Basmajian et al. on human EMG signals during walking also proved that the muscle moment in the swing phase is small, starting from the foot touching the ground to the next time the foot touches the ground, and the single-leg support period is 0-40% of the ...

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