Biped robot with variable-rigidity ankle joints

A biped robot and ankle joint technology, applied in the field of humanoid robots, can solve the problem that the comprehensive performance of robots surpasses that of humans

Inactive Publication Date: 2020-10-30
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the field of biped walking robot research, researchers generally design with reference to humans, because there is currently no robot whose comprehensive performance can surpass that of humans.

Method used

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  • Biped robot with variable-rigidity ankle joints
  • Biped robot with variable-rigidity ankle joints
  • Biped robot with variable-rigidity ankle joints

Examples

Experimental program
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Embodiment Construction

[0016] see Figure 1-Figure 3 As shown, a biped robot with a variable stiffness ankle joint in this embodiment includes a left leg, a right leg and a pelvis 4, the left leg and the right leg respectively include a thigh 1, a calf 2 and a foot 3, and the pelvis 4 The thigh 1 is connected through the hip joint A, the thigh 1 is connected with the calf 2 through the knee joint B, the calf 2 is connected with the foot 3 through the ankle joint C, and the left leg and the right leg are connected through the pelvis 4;

[0017] The ankle joint C includes the ankle joint driving motor C1, the ankle joint transmission gear pair C2, the rotating crank C3, the ankle joint rotation shaft C4, and the passive exhaust variable stiffness mechanism C5; the passive exhaust variable stiffness mechanism C5 includes the cylinder C5-1 and connecting parts C5-2, the piston rod end of the cylinder C5-1 is equipped with a connecting piece C5-2, the ankle joint driving motor C1 is installed on the thig...

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Abstract

A biped robot with variable-rigidity ankle joints comprises a left leg, a right leg and a pelvis. The left leg and the right leg comprise thighs, shanks and feet respectively, the pelvis is connectedwith the thighs through hip joints, the thighs are connected with the shanks through knee joints, the shanks are connected with the feet through the ankle joints, and the left leg and the right leg are connected through the pelvis; each ankle joint comprises an ankle joint driving motor, an ankle joint transmission gear pair, a rotating crank, an ankle joint rotating shaft and a passive exhaust variable rigidity mechanism; the passive exhaust variable rigidity mechanism comprises an air cylinder and a connecting piece; and a connecting piece is installed at an end of a piston rod of the air cylinder, the ankle joint driving motor is installed on each thigh, the rotating crank is rotatably installed on the knee joint rotating shaft, the ankle joint driving motor drives the rotating crank torotate around the knee joint rotating shaft through the ankle joint transmission gear pair, and a cylinder body of the air cylinder is rotatably connected with the feet. Walking movement in a two-dimensional plane can be achieved, and walking stability of the biped robot and an adaptability of the biped robot to uneven ground are improved.

Description

technical field [0001] The invention relates to a biped robot, in particular to a biped robot with variable stiffness ankle joints, belonging to the technical field of humanoid robots. Background technique [0002] Compared with other types of robots, the development of humanoid robots is very rapid. In addition to robotics, the research on humanoid robots also covers different disciplines such as mechanics, biology, control science, and even psychology, and has gradually become a unique multidisciplinary research field. A class of humanoid robots with bipedal walking as the main form of motion has high flexibility and can adapt to different terrains. It is an important branch in the field of humanoid robots. More than half of the terrain in the world cannot be reached by current wheeled or tracked robots, but humans can walk around every corner with their feet, so legged humanoid robots are the best for completing ground tasks in natural environments. choose. Human biped...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032B62D57/02
CPCB62D57/02B62D57/032
Inventor 臧希喆林珍坤刘玉斌张学贺衡帅赵杰
Owner HARBIN INST OF TECH
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