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A high-energy-efficiency and lightweight leg-foot structure layout and design method for a biped robot

A technology of biped robot and structural layout, applied in the field of robotics, to achieve the effects of reducing moment of inertia, improving walking energy efficiency, and improving battery life

Active Publication Date: 2020-12-01
ZHEJIANG LAB
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Overall, although researchers have developed a more energy-efficient biped robot prototype, there is still a lack of scientific and systematic high-energy-efficiency lightweight leg-foot structure layout and design methods at home and abroad to guide the design of biped robots.

Method used

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  • A high-energy-efficiency and lightweight leg-foot structure layout and design method for a biped robot
  • A high-energy-efficiency and lightweight leg-foot structure layout and design method for a biped robot
  • A high-energy-efficiency and lightweight leg-foot structure layout and design method for a biped robot

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Embodiment Construction

[0030] The present invention will be further described below in conjunction with drawings and embodiments.

[0031] Such as figure 1 As shown, a biped robot of the present invention has a high-energy-efficiency lightweight leg-foot structure, including a first hip joint motor, a hip joint first motor connecting rod, a hip joint second motor, a hip joint third motor, a knee joint motor, and a knee joint motor. A joint motor link, an ankle first motor, an ankle second motor, an ankle first motor link, and an ankle second motor link. Among them, the first motor of the ankle joint, the second motor of the ankle joint, the motor of the knee joint and the first motor of the hip joint are all driven by connecting rods. The rotation shaft of the second motor of the joint, the rotation shaft of the motor of the knee joint is connected to the rotation shaft of the first motor of the ankle joint through the connecting rod of the motor of the knee joint; the rotation shaft of the first m...

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Abstract

The invention discloses a high-energy-efficiency light-weight leg and foot structure layout and design method for a biped robot, and the method comprises the steps: firstly determining the layout forms of driving motors at all multi-degree-of-freedom joints of the biped robot, wherein the layout forms comprise a series connection form and a parallel connection form; then determining the layout sequence of the driving motors at each multi-degree-of-freedom joint of the biped robot; and finally, performing size layout between the driving motors at all joints of the biped robot from the perspective of energy efficiency optimization. The layout form, the layout sequence and the size layout design scheme of each leg and foot joint driving motor of the biped robot are provided. Based on the legand foot structure layout and design method of the biped robot, the rotational inertia of the leg-foot structure of the biped robot can be effectively reduced, the walking energy efficiency of the robot is improved, and the cruising ability of the robot is improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a high-energy-efficiency and lightweight leg-foot structure layout and design method for a biped robot. Background technique [0002] The body structure of the biped robot is equivalent to the human body, and its structural layout and design are directly related to the comprehensive performance of the robot. At present, when Chinese researchers carry out the structural layout and design of biped robots, they mainly consider the realization of basic motion functions. The design process mainly focuses on the configuration of degrees of freedom, the selection of joint drivers, and the verification of structural strength. The design mainly draws on the technology of Japanese bipedal robots, including ZJUKong of Zhejiang University described in the master's thesis "Structure Design and Analysis of Humanoid Robot", and the recent journal paper "ContactForce / Torque Control Ba...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 袁海辉张军峰顾建军朱世强
Owner ZHEJIANG LAB
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