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A biped robot and its walking control method

A biped robot, walking control technology, applied in the field of robotics, can solve the problems of complex control process, high control cost, hindering the daily production and life of biped robots, and achieve the effect of simple control process and low cost of parts

Inactive Publication Date: 2021-09-17
QINGDAO HUANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to prevent the biped robot from toppling when it lifts its feet, in the prior art, the left and right balance of the robot needs to be adjusted every time the biped robot takes a step. The high cost hinders the entry of biped robots into daily production and life

Method used

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  • A biped robot and its walking control method
  • A biped robot and its walking control method
  • A biped robot and its walking control method

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Embodiment

[0023] see figure 1 , figure 2 and image 3 , a biped robot, including a torso 1, a left leg 2 and a right leg 3, and also includes a balance control system, a pressure module group and a balance fine-tuning system, the pressure module group and the balance fine-tuning system are all connected to the balance control system; The module set includes the left leg 2 pressure module and the right leg 3 pressure module, the left leg 2 pressure module is set on the sole of the left leg 2, the right leg 3 pressure module is set on the right leg 3, the left leg 2 pressure module and the right leg 3 The pressure modules are used to sense the pressure distribution of the soles of the left leg 2 and the soles of the right leg 3; the balance control system is used to analyze the pressure distribution information sensed by the pressure module group, and control the balance fine-tuning system according to the pressure distribution information; the balance fine-tuning The system includes a...

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Abstract

The invention relates to the field of robot technology, and discloses a biped robot, which includes a trunk, a left leg and a right leg, and also includes a balance control system, a pressure module group and a balance fine-tuning system, and the pressure module group includes a left leg pressure module and a right leg The pressure module, the balance fine adjustment system includes the total liquid storage tank, the solenoid valve, the electric pump, the connecting ring and the regulating pipe. A branch pipe is arranged between the conduit, the electric pump and the regulating pipe, and an electromagnetic valve is arranged on the conduit and the branch pipe; the invention also discloses a walking control method of a biped robot. The invention adjusts the center of gravity of the robot by adjusting the amount of liquid in the regulating tube and adjusting the distance between the regulating tube and the left or right leg, and can sense the direction in which the robot falls in time. The cost of the control parts is low, and the control process is simple and effective. to make the robot achieve dynamic equilibrium.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a biped robot and a walking control method thereof. Background technique [0002] Biped walking robot --- walking upright, it has a good degree of freedom, flexible, free and stable movements. A biped robot is a bionic type of robot that can realize bipedal walking and related actions of the robot. As a dynamic system controlled by machinery, biped robots contain rich dynamic characteristics. In future production and life, humanoid biped walking robots can help humans solve many problems, such as carrying objects, emergency rescue and a series of dangerous or heavy tasks. [0003] In order to prevent the biped robot from toppling when it lifts its feet, in the prior art, the balance between the left and right of the robot needs to be adjusted every time the biped robot takes a step. The high cost hinders the entry of biped robots into daily production and life. Contents of th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032B25J11/00
Inventor 郑义刘纪新曹爱霞岳庆超周淑芳马玉华宋庆军于艳杰
Owner QINGDAO HUANGHAI UNIV
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