Leg structure with low inertia and high load and legged robot using it
A high-volume technology for legs, applied in the field of robotics, can solve the problems of increasing the equivalent moment of inertia of the previous joints, reducing the dynamic response capability of the leg structure, and the weight of the joint support structure, so as to reduce the equivalent moment of inertia , reduce structural complexity and structural weight, and improve the effect of load capacity
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[0034] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.
[0035] The body of the legged robot is similar to the upper body of a human or the body of a quadruped animal. The body is a frame structure, and the power battery, motor driver, control computer, and environmental perception sensors of the robot are placed in the frame. The mechanical interface connected by the external connector 1, the multiple legs jointly support the frame of the robot body,...
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