A direct-drive humanoid bipedal robot

Abstract

The present invention provides a direct-drive humanoid bipedal robot, which includes a single-leg structure, the single-leg structure is two groups of symmetrical single-leg structures, and the single-leg structure includes a two-degree-of-freedom hip joint thigh structure, A thigh-calf structure containing a single-degree-of-freedom knee joint and an underactuated ankle-joint structure, the two-degree-of-freedom hip-joint thigh structure is connected to a thigh-calf structure containing a single-degree-of-freedom knee joint, and the thigh structure containing a single-degree-of-freedom knee joint The calf structure is connected with the underactuated ankle joint structure. The invention uses a micro linear motor to directly drive the moving parts to form a swing guide rod mechanism. The structure is simple and compact, and the efficiency is high. The overall size is small, the weight is light, the parts are easy to process, and the cost is low. Low, the present invention includes a pair of two-degree-of-freedom hip joint thigh structures, a pair of single-degree-of-freedom knee joint thigh and calf structures, and a pair of underactuated ankle joint structures, that is, the whole is controlled by six motors, and each leg is controlled by only three Motor control, simple and convenient 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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