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Design method for lower limb structure size of biped robot

A technology of bipedal robot and structure size, applied in the field of robotics, to achieve the effect of simplifying dynamics, improving real-time performance and dynamic balance ability

Active Publication Date: 2020-06-12
ZHEJIANG LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

So far, although the development of prototypes of biped robots has made great progress, few researchers have considered the design basis and methods of the structural dimensions of biped robots in depth.

Method used

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  • Design method for lower limb structure size of biped robot
  • Design method for lower limb structure size of biped robot
  • Design method for lower limb structure size of biped robot

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Embodiment Construction

[0029] The present invention will be further described below in conjunction with drawings and embodiments.

[0030] A method for designing the structural dimensions of the lower limbs of a biped robot, comprising the following steps:

[0031] Step 1: According to the overall height requirement h of the biped robot, determine the overall height l of the robot’s lower limbs, and then determine the robot’s thigh length l 1 And calf length l 2 . According to the proportion of human body size, take l=h / 2, l 1 = l 2 =1 / 2. The present embodiment takes h=1.8m, then l=0.9m, l 1 = l 2 = 0.45m.

[0032] Step 2: Design the width dimension w of the robot's lower limbs according to the overall height dimension l of the robot's lower limbs. The design of the width dimension w is based on the motion analysis of the biped robot and the gait control theory. The specific ideas are as follows:

[0033] (2.1) First, the design of the width dimension w should be convenient for researchers ...

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Abstract

From the perspective of facilitating gait planning and control of a biped robot, the invention provides a design method of the lower limb structure size of the biped robot, and provides theoretical and method guidance for the design of the lower limb structure size of the biped robot. Firstly, according to the human body size proportion, the overall height size of lower limbs, the thigh length size of a robot and the shank length size are designed; then, from the perspective of facilitating motion analysis and control of the biped robot, the width size of the lower limbs of the robot is designed; and finally, the sole size of the robot is designed according to the sizes and mass distribution of the upper limbs and the lower limbs of the robot.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a method for designing the structural dimensions of the lower limbs of a biped robot. Background technique [0002] In recent years, the development of biped robots has received widespread attention at home and abroad. Many countries have successfully designed prototypes of biped robots, such as Atlas from Boston Dynamics, Cassie from Agility robotics, ASIMO from Honda, Japan. AIST’s HRP series, Korea’s KAIST’s HUBO series, European open source robot iCub, Beijing Institute of Technology’s Huitong series, Harbin Institute of Technology’s WLR-II and GoRoBoT, China University of Science and Technology’s XT, Zhejiang University’s Wukong and Tsinghua University’s THU-Strider et al. So far, although the development of prototypes of biped robots has made great progress, few researchers have considered the design basis and methods of the structural dimensions of biped robots...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 袁海辉杜睿龙顾建军朱世强
Owner ZHEJIANG LAB