Semi-passive walking robot capable of bending knees and its control method

Abstract

The invention discloses a semi-passive walking robot capable of bending knees and a control method thereof, comprising: an outer leg connecting rod, an inner leg connecting rod, a limit rod, two outer legs, two inner legs, a driving device and a transmission device, The inner leg includes the upper part of the inner leg and the lower part of the inner leg. One end of the upper part of the inner leg is connected with the connecting rod of the inner leg, and the other end of the upper part of the inner leg is hinged with one end of the lower part of the inner leg. One end of the lower part is provided with a magnet matched with the electromagnetic device, and the electromagnetic device and the magnet are configured to control the rotation of the lower part of the inner leg relative to one end of the upper part of the inner leg. The invention can realize walking with knee-bending motion 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 efficient 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 ...

AI Technical Summary

Problems solved by technology

However, because existing passive walking robots cannot bend their knees, they cannot work in complex environments. How to add knee joints to passive walking models such as the simplest and Compass has become a key point in the field of passive walking.

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