Direct drive type humanoid biped robot

Abstract

The invention provides a direct drive type humanoid biped robot, including two groups of symmetrical single-leg structures, wherein the single-leg structure comprises a two-degree-of-freedom hip jointthigh structure, a thigh and shank structure containing a single-degree-of-freedom knee joint and an under-actuated ankle joint structure; the two-degree-of-freedom hip joint thigh structure is connected with the thigh and shank structure containing the single-degree-of-freedom knee joint; and the thigh and shank structure containing the single-degree-of-freedom knee joint is connected with the under-actuated ankle joint structure. According to the invention, a micro linear motor directly driving moving part is used so that a swing guide rod mechanism is formed; the structure is simple and compact, efficiency is high, the overall size is small, the weight is light, parts are easy to machine, and the cost is low; the robot comprises a pair of two-degree-of-freedom hip joint thigh structures, a pair of single-degree-of-freedom knee joint thigh and shank structures and a pair of under-actuated ankle joint structures, that is, the whole robot is controlled by six motors, and a single legis controlled by only three motors, so that the robot is simple and convenient to control.

Description

technical field [0001] The invention relates to the technical field of biped robot structure design, in particular to a direct-drive humanoid biped robot. Background technique [0002] Biped robot technology is an advanced development stage of robot technology. It is a cutting-edge technical field integrating multiple disciplines such as mechanism kinematics and dynamics, materials science, computer, sensor technology, modern control theory, and bionics. Nowadays, various biped robots have been successfully developed at home and abroad, such as Honda's ASIMO, Boston Dynamics' Atlas, AgilityRobotics' Cassie, UBTECH's Walker, and so on. [0003] At present, most biped robots use motors with harmonic reducers or self-developed high-torque motors (Atlas uses hydraulic transmission) in order to achieve smooth gait walking or even running and jumping movements, and there are timing belts inside the mechanism. , gears and other transmission links, which will inevitably make the ro...

AI Technical Summary

Problems solved by technology

[0003] At present, most biped robots use motors with harmonic reducers or self-developed high-torque motors (Atlas uses hydraulic transmission) in order to achieve smooth gait walking or even running and jumping movements, and there are timing belts inside the mechanism. , gears and other transmission links, which will inevitably make the robot complex in structure, large in size, heavy in quality, high in cost and difficult to control

[0004] In addition, some biped robots are equipped with deceleration motors at the ankles or calves to control the movement of the ankles, and according to the dynamics simulation results, it can be known that the torque required at the ankles is larger, that is, the motors required are larger, which will also increase the mechanism. The weight and difficulty of control

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