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A semi-passive walking robot driven by imitation aerodynamics and its control method

A walking robot, semi-passive technology, applied in the field of robotics, can solve the problems of insufficient exploration of the telescopic leg mechanism, complex structure, etc., and achieve the effect of fast walking speed, short response time, and large pulse thrust

Active Publication Date: 2020-10-09
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Most of the existing semi-passive walking robots only consider the motor drive for stability control and job planning, and change the structure of the hip joint and ankle joint to solve the problem of swinging legs wiping the ground. The structure is relatively complicated, and the research on the telescopic leg mechanism is not deep enough.

Method used

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  • A semi-passive walking robot driven by imitation aerodynamics and its control method
  • A semi-passive walking robot driven by imitation aerodynamics and its control method
  • A semi-passive walking robot driven by imitation aerodynamics and its control method

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Embodiment Construction

[0028] The technical solutions of the present invention will be further described below with reference to the accompanying drawings, but the protection scope of the present invention is not limited thereto.

[0029] like figure 1 As shown, a bionic pneumatically driven semi-passive walking robot includes: inner leg upper plate 7, outer leg upper plate 1, two inner leg support plates 2, two outer leg support plates 6, four carbon tubes 3, Four linear push rods 4 and a control box 8, the control box 8 is used to store the high-pressure gas cylinder 9 and the solenoid valve 10.

[0030] The outer leg upper plate 1 is made of hollow aluminum profiles. Both ends of the outer leg upper plate 1 are fixedly connected to the two outer leg support plates 6 through screw connections. The outer leg upper plate 1 ensures that the two outer legs of the robot have the same posture. The lower part of the outer leg support plate 6 is coaxially matched with the middle part of the inner leg sup...

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Abstract

The invention discloses a bionic pneumatic driven semi-passive walking robot and a control method thereof. The semi-passive walking robot adopts pneumatic push rods as telescopic legs of the robot, current in a solenoid valve coil is controlled by base pins of a control board through an amplifying circuit of a driving plate, and then the telescopic states of the pneumatic push rods are changed, sothat switching of supporting legs and swing legs of the robot is achieved. The semi-passive walking robot has the bionic pneumatic telescopic leg capability, and the swinging legs are prevented fromrubbing the ground while stable walking is achieved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a bionic pneumatically driven semi-passive walking robot and a control method thereof. Background technique [0002] The structure and control algorithm of passive walking robot are very simple. The simple two-bar linkage mechanism and the feedback signal of the ground impact can be processed to realize the drive on the ground. In addition, compared with traditional walking robots, the gait of passive walking robots is closer to human walking, which can better imitate human movement, which is conducive to the mining of the essential characteristics of walking. [0003] The stability control and operation planning of the existing semi-passive walking robots mostly only consider the motor drive, changing the structure of the hip joint and the ankle joint to solve the problem of wiping the swing leg. SUMMARY OF THE INVENTION [0004] In view of this, the present inven...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032B25J9/14
CPCB25J9/14B62D57/032
Inventor 陈学超刘锦坤余张国黄强蔡兆旸
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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