Hip joint of humanoid robot

Abstract

A hip joint of a humanoid robot includes: a first actuator including a first rotating portion formed to rotate about a first rotation axis; a second actuator connected to the first rotating portion and including a second rotating portion formed to rotate about a second rotation axis inclined relative to the first rotation axis; and a third actuator connected to the second rotating portion and including a third rotating portion formed to rotate about a third rotation axis inclined relative to the second rotation axis.

Description

Technical Field

[0001] This disclosure relates to a humanoid robot, and more specifically, to a hip joint of a humanoid robot. Background Technology

[0002] Humanoid robots are currently attracting attention as a labor alternative due to population decline.

[0003] Therefore, companies, research institutions, and universities around the world are developing humanoid robots.

[0004] In order for humanoid robots to achieve human-level performance, they may need to ensure the range of motion and motion output of their joints.

[0005] Existing humanoid robots can perform walking and running movements similar to those of humans.

[0006] However, most existing humanoid robots were developed with dynamics different from those of humans, so they may lack flexibility and mobility. Summary of the Invention

[0007] Technical solution According to one aspect of this disclosure, a hip joint of a humanoid robot may include: a first actuator including a first rotating portion configured to rotate about a first rotation axis; a second actuator connected to the first rotating portion, the second actuator including a second rotating portion configured to rotate about a second rotation axis inclined relative to the first rotation axis; and a third actuator connected to the second rotating portion, the third actuator including a third rotating portion configured to rotate about a third rotation axis inclined relative to the second rotation axis.

[0008] The first axis of rotation, the second axis of rotation, and the third axis of rotation may intersect at a point.

[0009] In the geographic coordinate system of the virtual sphere centered at the intersection point: the first point of the first rotation axis can be 145±15 degrees west longitude relative to the prime meridian of the virtual sphere, and 30±15 degrees north latitude relative to the equator of the virtual sphere; the second point of the second rotation axis can be 37±15 degrees west longitude relative to the prime meridian, and 31±15 degrees north latitude relative to the equator; and the third point of the third rotation axis can be 90±25 degrees west longitude relative to the prime meridian, and 45±15 degrees south latitude relative to the equator, wherein the first point, the second point, and the third point are located on the surface of the virtual sphere.

[0010] The third rotating part can correspond to the thigh of the humanoid robot's leg, and the center of the thigh can be horizontally spaced a certain distance from the intersection point.

[0011] The distance can be from 50mm to 120mm.

[0012] According to one aspect of this disclosure, a humanoid robot may include: a body; a left leg; a left hip joint located on the left side of the body, the left hip joint being configured to move the left leg; a right leg; and a right hip joint located on the right side of the body, the right hip joint being configured to move the right leg, wherein the left hip joint includes: a first actuator including a first rotating portion configured to rotate about a first rotation axis; a second actuator connected to the first rotating portion, the second actuator including a second rotating portion configured to rotate about a second rotation axis inclined relative to the first rotation axis; and a third actuator connected to the second... The third actuator includes a third rotating portion configured to rotate about a third rotating axis inclined relative to the second rotating axis, and wherein the right hip joint includes: a fourth actuator including a fourth rotating portion configured to rotate about a fourth rotating axis; a fifth actuator connected to the fourth rotating portion, the fifth actuator including a fifth rotating portion configured to rotate about a fifth rotating axis inclined relative to the fourth rotating axis; and a sixth actuator connected to the fifth rotating portion, the sixth actuator including a sixth rotating portion configured to rotate about a sixth rotating axis inclined relative to the fifth rotating axis.

[0013] The first, second, and third rotation axes of the left hip joint may intersect at a point.

[0014] In the geographic coordinate system of the virtual sphere centered at the intersection point: the first point of the first rotation axis of the left hip joint can be 145±15 degrees west longitude relative to the prime meridian of the virtual sphere, and 30±15 degrees north latitude relative to the equator of the virtual sphere; the second point of the second rotation axis of the left hip joint can be 37±15 degrees west longitude relative to the prime meridian, and 31±15 degrees north latitude relative to the equator; and the third point of the third rotation axis of the left hip joint can be 90±25 degrees west longitude relative to the prime meridian, and 45±15 degrees south latitude relative to the equator, wherein the first point, the second point, and the third point are located on the surface of the virtual sphere.

[0015] The fourth, fifth, and sixth rotational axes of the right hip joint may intersect at a point.

[0016] In the geographic coordinate system of the virtual sphere centered at the intersection point: the fourth point of the fourth rotation axis of the right hip joint can be 145±15 degrees east longitude relative to the prime meridian of the virtual sphere, and 30±15 degrees north latitude relative to the equator of the virtual sphere; the fifth point of the fifth rotation axis of the right hip joint can be 37±15 degrees east longitude relative to the prime meridian, and 31±15 degrees north latitude relative to the equator; and the sixth point of the sixth rotation axis of the right hip joint can be 90±25 degrees east longitude relative to the prime meridian, and 45±15 degrees south latitude relative to the equator, wherein the fourth point, the fifth point, and the sixth point are located on the surface of the virtual sphere.

[0017] The third rotating part can correspond to the thigh of the left leg of the humanoid robot, and the center of the thigh can be horizontally spaced a certain distance from the intersection point.

[0018] The distance can be from 50mm to 120mm.

[0019] The sixth rotating part can correspond to the thigh of the right leg of the humanoid robot, and the center of the thigh can be horizontally spaced a certain distance from the intersection point.

[0020] The distance can be from 50mm to 120mm. Attached Figure Description

[0021] The above and other aspects, features and advantages of certain embodiments of this disclosure will be more readily understood from the following description taken in conjunction with the accompanying drawings, in which: Figure 1 This is a diagram illustrating a humanoid robot according to one or more embodiments of the present disclosure.

[0022] Figure 2 This is a diagram illustrating the hip joint of a humanoid robot according to one or more embodiments of the present disclosure.

[0023] Figure 3 This is a rear perspective view showing the hip joint of a humanoid robot according to one or more embodiments of the present disclosure.

[0024] Figure 4 This is a diagram illustrating a geographic coordinate system of a virtual sphere used to explain the tilt of the three rotational axes of the hip joint of a humanoid robot according to one or more embodiments of the present disclosure.

[0025] Figure 5 This is a diagram illustrating the tilt of the first axis of rotation of the hip joint of a humanoid robot according to one or more embodiments of the present disclosure in the geographic coordinate system of a virtual sphere.

[0026] Figure 6 This is a diagram illustrating the tilt of the second axis of rotation of the hip joint of a humanoid robot according to one or more embodiments of the present disclosure in the geographic coordinate system of a virtual sphere.

[0027] Figure 7 This is a diagram illustrating the tilt of the third axis of rotation of the hip joint of a humanoid robot according to one or more embodiments of the present disclosure in the geographic coordinate system of a virtual sphere.

[0028] Figure 8 This is a diagram illustrating the tilt of the three rotational axes of the relative hip joints of a humanoid robot according to one or more embodiments of the present disclosure in the geographic coordinate system of a virtual sphere.

[0029] Figure 9 This is a diagram showing the hip joint of a humanoid robot according to a comparative example.

[0030] Figure 10 This is a graph showing the change in pitch torque of the hip joint actuator when the humanoid robot according to the comparative example performs pitch motion.

[0031] Figure 11 This is a graph showing the change in pitch velocity of the hip joint actuator when the humanoid robot according to the comparative example performs pitch motion.

[0032] Figure 12 It is a graph showing the change in the rolling torque of the hip joint actuator when the humanoid robot according to the comparative example performs a rolling motion.

[0033] Figure 13 This is a graph showing the change in the rolling speed of the hip joint actuator when the humanoid robot according to the comparative example performs a rolling motion.

[0034] Figure 14 It is a graph showing the change in pitch torque of the hip joint actuator when a humanoid robot performs pitch motion according to one or more embodiments of the present disclosure.

[0035] Figure 15 It is a graph showing the change in pitch velocity of the hip joint actuator when a humanoid robot performs pitch motion according to one or more embodiments of the present disclosure.

[0036] Figure 16 It is a graph showing the change in rolling torque of the hip joint actuator when a humanoid robot performs a rolling motion according to one or more embodiments of the present disclosure.

[0037] Figure 17It is a graph showing the change in the rolling speed of the hip joint actuator when a humanoid robot performs a rolling motion according to one or more embodiments of the present disclosure. Detailed Implementation

[0038] The various example embodiments described herein and the terminology used herein are not intended to limit this disclosure to the specific embodiments, and this disclosure should be understood to include various modifications, equivalents, or alternatives to the example embodiments.

[0039] Similar reference numerals may be used for similar or related components in conjunction with the description in the accompanying drawings.

[0040] Unless the relevant context clearly indicates otherwise, the singular form of the noun corresponding to an item may include one or more of the items mentioned above.

[0041] As used herein, each of the phrases such as “A or B”, “at least one of A and B”, “at least one of A or B”, “A, B or C”, “at least one of A, B and C”, “at least one of A, B or C” may include any one of the items listed with the corresponding phrase, or any possible combination thereof.

[0042] The term "and / or" includes any element of a plurality of related descriptions or a combination of elements of a plurality of related descriptions.

[0043] Terms such as “first,” “second,” “primary,” or “secondary” may be used only to distinguish one component from others and do not limit the corresponding component in other respects (e.g., importance or order).

[0044] When referring to one (e.g., the first) component as “combined” or “connected” to another (e.g., the second) component, whether or not the terms “functionally” or “communically” are used, it means that one component can be connected to the other component directly (e.g., wired), wirelessly, or through a third component.

[0045] Terms such as “comprising,” “including,” or “having” are intended to indicate the presence of features, quantities, steps, operations, components, parts, or combinations thereof described in the embodiments, but do not exclude the presence or addition of one or more other features, quantities, steps, operations, components, parts, or combinations thereof.

[0046] When a component is described as being “connected,” “joined,” “supported,” or “in contact” with another component, it means not only that the components are directly connected, joined, supported, or in contact, but also that the components are indirectly connected, joined, supported, or in contact through a third component.

[0047] When a component is said to be "on" another component, this includes not only cases where the component is in contact with another component, but also cases where there is another component between the two components.

[0048] Furthermore, the terms "front end," "rear end," "upper side," "lower side," "top," "bottom," etc., used in this disclosure are defined with reference to the accompanying drawings. However, the shape and position of the individual components are not limited by the terminology.

[0049] Non-limiting exemplary embodiments of this disclosure relate to a hip joint of a humanoid robot that, compared to the torque and speed of the three actuators in the hip joint of a humanoid robot according to a comparative example, enables the minimization of femoral interference and reduces the torque and speed of the three actuators included in the hip joint.

[0050] In the following, the hip joint of a humanoid robot 1 according to one or more embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0051] Figure 1 This is a diagram illustrating a humanoid robot 1 according to one or more embodiments of the present disclosure.

[0052] Reference Figure 1 The humanoid robot 1 according to one or more embodiments of the present disclosure may include a body 10, a left hip joint 20, a left leg 30, a right hip joint 40, and a right leg 50.

[0053] The body 10 may include a pair of arms and a pair of legs (e.g., left leg 30 and right leg 50). The arms may be located on the upper left and right sides of the body 10. The legs (e.g., left leg 30 and right leg 50) may be located on the lower left and right sides of the body 10.

[0054] Body 10 may include upper body 11 and lower body 12.

[0055] The upper body 11 may include a pair of arms. The pair of arms may include a left arm located on the left side of the upper body 11 and a right arm located on the right side of the upper body 11.

[0056] The lower body 12 may include a pair of hip joints (e.g., left hip joint 20 and right hip joint 40). The pair of hip joints (e.g., left hip joint 20 and right hip joint 40) may be located between the lower body 12 and a pair of legs (e.g., left leg 30 and right leg 50). The pair of hip joints may include a left hip joint 20 located on the left side of the body 10 and a right hip joint 40 located on the right side of the body 10.

[0057] A pair of legs may include a left leg 30 and a right leg 50. Each leg in a pair of legs (e.g., a left leg 30 and a right leg 50) may include a thigh, a calf, a knee, an ankle, and a foot.

[0058] The left leg (30%) can move through the left hip joint (20%). The right leg (50%) can move through the right hip joint (40%).

[0059] The left hip joint 20 may be located on the left side of the lower body 12. The left hip joint 20 may be located between the lower body 12 and the left leg 30.

[0060] The right hip joint 40 may be located on the right side of the lower body 12. The right hip joint 40 may be located between the lower body 12 and the right leg 50.

[0061] The left hip joint 20 and the right hip joint 40 may be arranged symmetrically with respect to the central vertical plane 15 that divides the body 10 into two halves (e.g., the left half and the right half). The left hip joint 20 and the right hip joint 40 may be constructed to be identical to each other.

[0062] According to one or more embodiments of the present disclosure, a humanoid robot 1 can smoothly perform a variety of movements similar to those of a human using a body 10, a left hip joint 20, a left leg 30, a right hip joint 40, and a right leg 50.

[0063] According to one or more embodiments of the present disclosure, a humanoid robot 1 can perform pitch, roll and yaw movements by using a left hip joint 20, a left leg 30, a right hip joint 40 and a right leg 50.

[0064] Reference Figure 1 Pitch motion can refer to the clockwise or counterclockwise rotation of the humanoid robot 1 about the pitch axis P when viewed from the side. The pitch axis P can refer to the axis perpendicular to the central vertical plane 15 that divides the humanoid robot 1's body 10 into the left and right halves.

[0065] Roll motion refers to the clockwise or counterclockwise rotation of the humanoid robot 1 about the roll axis R when viewed from the front. The roll axis R can be an axis perpendicular to the vertical plane that divides the humanoid robot 1's body 10 into the front and rear halves. The roll axis R may intersect the pitch axis P at a right angle.

[0066] Yaw motion can refer to the clockwise or counterclockwise rotation of the humanoid robot 1 around the yaw axis Y when viewed from above. The yaw axis Y can be an axis perpendicular to the horizontal plane 17 passing through the lower body 12 of the humanoid robot 1. The horizontal plane 17 can be perpendicular to the central vertical plane 15, and the pitch axis P and roll axis R can be located on the horizontal plane 17. The roll axis R and yaw axis Y can be located on the central vertical plane 15. Therefore, the yaw axis Y can be perpendicular to the pitch axis P and roll axis R. The pitch axis P, roll axis R, and yaw axis Y can intersect at a point located on the horizontal plane 17 passing through the lower body 12 of the humanoid robot 1.

[0067] The left hip joint 20 and the right hip joint 40 can be constructed as identical structures. The left hip joint 20 and the right hip joint 40 can be constructed symmetrically with respect to the central vertical plane 15 that divides the humanoid robot 1 into left and right halves. Therefore, the following will use the left hip joint 20 as an example, referring to... Figure 2 and Figure 3 Detailed description.

[0068] Figure 2 This is a diagram illustrating the hip joint (e.g., left hip joint 20) of a humanoid robot 1 according to one or more embodiments of the present disclosure. Figure 3 This is a rear perspective view showing the hip joint (e.g., left hip joint 20) of a humanoid robot 1 according to one or more embodiments of the present disclosure.

[0069] Below, the left hip joint 20 is described as an example of a hip joint (e.g., left hip joint 20 and right hip joint 40). That is, the right hip joint 40 may be the same as or similar to the left hip joint 20, and the description of the left hip joint 20 may also be applied to the right hip joint 40.

[0070] Reference Figure 2 and Figure 3 The left hip joint 20 according to one or more embodiments of the present disclosure may include a first actuator 21, a second actuator 22 and a third actuator 23.

[0071] The first actuator 21 may be fixed to the body 10. The first actuator 21 may be disposed at the lower part of the body 10, i.e., at the lower body 12. The first actuator 21 may include a first rotating part 212 configured to rotate about a first rotation axis A1. Here, the first rotation axis A1 may refer to a virtual straight line that serves as the rotation center of the first rotating part 212 of the first actuator 21.

[0072] For example, the first actuator 21 may include a first fixed portion 211 and a first rotating portion 212. The first fixed portion 211 may be fixed to the body 10. The first rotating portion 212 may be configured to rotate relative to the first fixed portion 211. The first rotating portion 212 may rotate about a first rotation axis A1 relative to the first fixed portion 211. The first actuator 21 may be configured such that the first rotation axis A1 is not parallel to the pitch axis P, the roll axis R, and the yaw axis Y.

[0073] The first actuator 21 may include various structures, as long as it can rotate the first rotating part 212. For example, the first actuator 21 may include a motor and a reducer.

[0074] When the first actuator 21 includes a motor and a reducer, the first fixed portion 211 can be configured as a first housing fixed to the body 10 and having the motor and reducer disposed therein. The first rotating portion 212 can be formed as a first rotating plate rotatably disposed in the first housing and connected to the output portion of the reducer. The first rotating plate can be rotated relative to the first housing by the motor and reducer. The first rotating plate can be formed in an approximately circular shape and can rotate about a first rotation axis A1. In other words, the first rotating portion 212 can rotate relative to the first fixed portion 211 about the first rotation axis A1.

[0075] The second actuator 22 may be connected to the first rotating portion 212 of the first actuator 21 (e.g., disposed in the first rotating portion 212 of the first actuator 21). The second actuator 22 may include a second rotating portion 222 configured to rotate about a second rotation axis A2. Here, the second rotation axis A2 may refer to a virtual straight line that serves as the rotation center of the second rotating portion 222 of the second actuator 22.

[0076] The second actuator 22 may be configured such that the second rotation axis A2 is tilted relative to the first rotation axis A1.

[0077] For example, the second actuator 22 may include a second fixing portion 221 and a second rotating portion 222. The second fixing portion 221 may be fixed to the first rotating portion 212 of the first actuator 21. Therefore, the second actuator 22 may rotate integrally with the first rotating portion 212 of the first actuator 21. In other words, when the first rotating portion 212 of the first actuator 21 rotates, the second actuator 22 may rotate.

[0078] The second fixing part 221 can be fixed to the first rotating part 212 by the first support part 25. In other words, the first support part 25 can be disposed between the first rotating part 212 of the first actuator 21 and the second fixing part 221 of the second actuator 22.

[0079] When the first support portion 25 is disposed between the first rotating portion 212 and the second fixed portion 221, the angle between the first rotation axis A1 of the first actuator 21 and the second rotation axis A2 of the second actuator 22 can be appropriately adjusted. The first support portion 25 can be formed in various shapes, as long as it can fix the second fixed portion 221 to the first rotating portion 212 and make the first rotation axis A1 and the second rotation axis A2 form a certain angle. In this embodiment, such as... Figure 2 As shown, the first support portion 25 may be formed as a column extending downward from the first rotating portion 212.

[0080] As another example, the second fixing part 221 of the second actuator 22 can be directly fixed to the first rotating part 212 of the first actuator 21 without the first support part 25.

[0081] The second rotating part 222 can be configured to be rotatable relative to the second fixed part 221. The second rotating part 222 can rotate about a second rotation axis A2 relative to the second fixed part 221. The second actuator 22 can be configured such that the second rotation axis A2 is not parallel to the pitch axis P, roll axis R, and yaw axis Y. The second actuator 22 can be configured such that the second rotation axis A2 is tilted relative to the first rotation axis A1. Furthermore, the second actuator 22 can be configured such that the second rotation axis A2 is not parallel to the first rotation axis A1. Therefore, the second rotation axis A2 may not be parallel to the first rotation axis A1 and may be tilted relative to the first rotation axis A1.

[0082] The second actuator 22 may include various structures, as long as it is capable of rotating the second rotating part 222. For example, the second actuator 22 may include a motor and a reducer.

[0083] When the second actuator 22 includes a motor and a reducer, the second fixed portion 221 can be configured as a second housing fixed to the first rotating portion 212 and having the motor and reducer disposed therein. The second rotating portion 222 can be formed as a second rotating plate rotatably disposed in the second housing and connected to the output portion of the reducer. The second rotating plate can rotate relative to the second housing via the motor and reducer. The second rotating plate can be formed in an approximately circular shape and can rotate about a second rotation axis A2. In other words, the second rotating portion 222 can rotate relative to the second fixed portion 221 about the second rotation axis A2.

[0084] The third actuator 23 may be connected to the second rotating portion 222 of the second actuator 22 (e.g., disposed in the second rotating portion 222 of the second actuator 22). The third actuator 23 may include a third rotating portion 232 configured to rotate about a third rotation axis A3. Here, the third rotation axis A3 may refer to a virtual straight line that serves as the rotation center of the third rotating portion 232 of the third actuator 23.

[0085] The third actuator 23 may be configured such that the third rotation axis A3 is tilted relative to the second rotation axis A2. The third actuator 23 may also be configured such that the third rotation axis A3 is tilted relative to the first rotation axis A1. In other words, the third rotation axis A3 may be tilted relative to the first rotation axis A1 and the second rotation axis A2.

[0086] For example, the third actuator 23 may include a third fixing portion 231 and a third rotating portion 232. The third fixing portion 231 may be fixed to the second rotating portion 222 of the second actuator 22. Therefore, the third actuator 23 may rotate integrally with the second rotating portion 222 of the second actuator 22. In other words, when the second rotating portion 222 of the second actuator 22 rotates, the third actuator 23 may rotate.

[0087] The third fixing part 231 can be fixed to the second rotating part 222 by the second support part 26. In other words, the second support part 26 can be disposed between the second rotating part 222 of the second actuator 22 and the third fixing part 231 of the third actuator 23.

[0088] When the second support portion 26 is disposed between the second rotating portion 222 and the third fixed portion 231, the angle between the second rotation axis A2 of the second actuator 22 and the third rotation axis A3 of the third actuator 23 can be appropriately adjusted. The second support portion 26 can be formed in various shapes, as long as it can fix the third fixed portion 231 to the second rotating portion 222 and make the second rotation axis A2 and the third rotation axis A3 form a certain angle. In this embodiment, such as... Figure 2 As shown, the second support portion 26 may be formed as a plate extending from the second rotating portion 222 parallel to the second rotating portion 222.

[0089] As another example, the third fixing part 231 of the third actuator 23 can be directly fixed to the second rotating part 222 of the second actuator 22 without the second support part 26.

[0090] The third rotating part 232 can be configured to rotate relative to the third fixed part 231. The third rotating part 232 can rotate about the third rotation axis A3 relative to the third fixed part 231. The third actuator 23 can be configured such that the third rotation axis A3 is not parallel to the pitch axis P, roll axis R, and yaw axis Y. In addition, the third actuator 23 can be configured such that the third rotation axis A3 is not parallel to the second rotation axis A2. The third actuator 23 can be configured such that the third rotation axis A3 is not parallel to the first rotation axis A1. Therefore, the first rotation axis A1, the second rotation axis A2, and the third rotation axis A3 can be tilted relative to each other.

[0091] The third actuator 23 may include various structures, as long as it is capable of rotating the third rotating part 232. For example, the third actuator 23 may include a motor and a reducer.

[0092] When the third actuator 23 includes a motor and a reducer, the third fixed part 231 can be configured as a third housing fixed to the second rotating part 222 and having the motor and reducer disposed therein. The third rotating part 232 can be formed as a third rotating plate rotatably disposed in the third housing and connected to the output portion of the reducer. The third rotating plate can rotate relative to the third housing via the motor and reducer. The third rotating plate can be formed in an approximately circular shape and can rotate about the third rotation axis A3. In other words, the third rotating part 232 can rotate relative to the third fixed part 231 about the third rotation axis A3.

[0093] As another example, the first actuator 21, the second actuator 22 and the third actuator 23 may each include a motor without a speed reducer.

[0094] The left leg 30 can be connected to the third rotating part 232. For example, the left leg 30 can be connected to the third rotating part 232 of the third actuator 23 of the left hip joint 20.

[0095] Therefore, when the third rotating part 232 of the third actuator 23 rotates, the left leg 30 can move. For the left hip joint 20 according to one or more embodiments of the present disclosure, the first actuator 21, the second actuator 22 and the third actuator 23 can operate simultaneously to move the left leg 30.

[0096] The thigh of the left leg 30 can be positioned at a certain distance from the body 10. Specifically, the left leg 30 can be positioned such that the center of the thigh of the left leg 30 is positioned at a certain distance from the left side of the lower body 12.

[0097] The first rotation axis A1 of the first actuator 21, the second rotation axis A2 of the second actuator 22, and the third rotation axis A3 of the third actuator 23 may not lie on the same plane. The first rotation axis A1, the second rotation axis A2, and the third rotation axis A3 may intersect at a point O. The intersection point O may be a sphere or a point of a certain size. For example, the first rotation axis A1, the second rotation axis A2, and the third rotation axis A3 may intersect in a spherical space with a diameter of 50 mm or less.

[0098] The intersection point O of the first rotation axis A1, the second rotation axis A2, and the third rotation axis A3 can be located on the lower side of the lower body 12. The left leg 30 can appear to move around the intersection point O. Therefore, the intersection point O can be referred to as the center of the left hip joint 20.

[0099] The center 31 of the thigh of the left leg 30 may be horizontally spaced from the intersection point O by a certain distance D. For example, the center 31 of the thigh of the left leg 30 may be spaced from the intersection point O by approximately 50 mm to approximately 120 mm. Here, the center 31 of the thigh of the left leg 30 may refer to the vertical plane that divides the thigh into the left and right halves. The vertical plane including the center 31 of the thigh may be parallel to the central vertical plane 15 of the body 10.

[0100] When the center 31 of the thigh of the left leg 30 is positioned at a certain distance from the intersection point O as described above, the structure of the left hip joint 20 and the left leg 30 of the humanoid robot 1 according to one or more embodiments of this disclosure can be similar to the structure of the human hip joint and femur. Therefore, no internal interference occurs when the humanoid robot 1 performs cross-stepping movements. Cross-stepping can be a movement for lateral balance of the humanoid robot 1 and can prevent the humanoid robot 1 from tipping over when forces are applied in the left and right directions.

[0101] The right hip joint 40 may include a fourth actuator 41 (see Figure 1 ), fifth actuator 42 (see Figure 1 ) and the sixth actuator 43 (see Figure 1 ).

[0102] The fourth actuator 41 may be fixed to the right side of the lower body 12 and may include actuators configured to rotate around a fourth axis of rotation A4 (see Figure 1). Figure 8 A fourth rotating part that rotates. A fifth actuator 42 may be connected to the fourth rotating part (e.g., disposed in the fourth rotating part) and may include a fifth rotating axis A5 configured to be inclined about relative to the fourth rotating axis A4 (see...). Figure 8 A fifth rotating part that rotates. A sixth actuator 43 may be connected to the fifth rotating part (e.g., disposed in the fifth rotating part) and may include a sixth rotating axis A6 configured to be inclined about relative to the fifth rotating axis A5 (see Figure 8 The sixth rotating part.

[0103] The structures of the fourth actuator 41, the fifth actuator 42, and the sixth actuator 43 of the right hip joint 40 can be the same as those of the first actuator 21, the second actuator 22, and the third actuator 23 of the left hip joint 20, so their redundant descriptions can be omitted.

[0104] The right leg 50 can be connected to the sixth actuator 43. For example, the right leg 50 can be connected to the sixth rotating part of the sixth actuator 43 of the right hip joint 40.

[0105] Therefore, the right leg 50 can move when the sixth rotating part of the sixth actuator 43 rotates. For the right hip joint 40 according to one or more embodiments of the present disclosure, the fourth actuator 41, the fifth actuator 42, and the sixth actuator 43 can operate simultaneously to move the right leg 50.

[0106] The thigh of the right leg 50 can be positioned at a certain distance from the body 10. Specifically, the right leg 50 can be positioned such that the center of the thigh of the right leg 50 is positioned at a certain distance from the right side of the lower body 12.

[0107] The fourth rotation axis A4 of the fourth actuator 41, the fifth rotation axis A5 of the fifth actuator 42, and the sixth rotation axis A6 of the sixth actuator 43 may not lie on the same plane. The fourth rotation axis A4, the fifth rotation axis A5, and the sixth rotation axis A6 may intersect at a point. This point may be a sphere or a point of a certain size. For example, the fourth rotation axis A4, the fifth rotation axis A5, and the sixth rotation axis A6 may intersect in a spherical space with a diameter of 50 mm or less.

[0108] The intersection of the fourth rotation axis A4, the fifth rotation axis A5, and the sixth rotation axis A6 can be located on the underside of the lower body 12. The right leg 50 can appear to move around the intersection point. Therefore, the intersection point can be referred to as the center of the right hip joint 40.

[0109] The center of the thigh of the right leg 50 may be horizontally spaced from the intersection point by a certain distance D. For example, the center of the thigh of the right leg 50 may be spaced from the intersection point by approximately 50 mm to approximately 120 mm. Here, the center of the thigh of the right leg 50 may refer to the vertical plane that divides the thigh into the left and right halves. The vertical plane of the thigh may be parallel to the central vertical plane 15 of the body 10.

[0110] When the center of the thigh of the right leg 50 is positioned at a certain distance from the intersection point as described above, the structure of the right hip joint 40 and the right leg 50 of the humanoid robot 1 according to one or more embodiments of this disclosure can be similar to the structure of the human hip joint and femur. Therefore, no internal interference occurs when the humanoid robot 1 performs cross-stepping movements. Cross-stepping can be a movement for lateral balance of the humanoid robot 1 and can prevent the humanoid robot 1 from tipping over when forces are applied in the left and right directions.

[0111] When the center of the thigh of each leg (e.g., left leg 30 and right leg 50) is spaced a certain distance from the lower body 12, the interference between the thigh of the leg (e.g., left leg 30 and right leg 50) and the lower body 12 can be minimized. Therefore, the actuation range can be widened when the humanoid robot 1 performs a rolling motion.

[0112] In the following text, reference will be made to Figures 4 to 7 The angles of the first rotation axis A1, the second rotation axis A2, and the third rotation axis A3 of the left hip joint 20 of the humanoid robot 1 according to one or more embodiments of the present disclosure are described in detail.

[0113] Figure 4 This is a diagram illustrating a geographic coordinate system of a virtual sphere used to explain the tilt of the three rotation axes (e.g., first rotation axis A1, second rotation axis A2, and third rotation axis A3) of the hip joint (e.g., left hip joint 20) of a humanoid robot 1 according to one or more embodiments of the present disclosure.

[0114] The first rotation axis A1 of the first actuator 21, the second rotation axis A2 of the second actuator 22, and the third rotation axis A3 of the third actuator 23 may not lie on the same plane. Therefore, in Figure 4 In this context, the geographic coordinate system of a virtual sphere 100 is used to represent the tilt angles of the first rotation axis A1, the second rotation axis A2, and the third rotation axis A3. To clearly represent the first rotation axis A1, the second rotation axis A2, and the third rotation axis A3, in... Figure 4Some lines used to represent the virtual sphere 100 have been omitted.

[0115] Reference Figure 4 The intersection point of the first rotation axis A1, the second rotation axis A2, and the third rotation axis A3 can be the center of the virtual sphere 100 (e.g., intersection point O). The center (e.g., intersection point O) can form a sphere with a very small diameter compared to the diameter of the virtual sphere 100.

[0116] The prime meridian 101 of the virtual sphere 100 may refer to a meridian parallel to the central vertical plane 15, which divides the humanoid robot 1 into a left half and a right half, and faces the front of the humanoid robot 1. In addition, the equatorial plane 110 of the virtual sphere 100 may be parallel to the horizontal plane 17 formed by the pitch axis P and roll axis R of the humanoid robot 1, and the meridian may be perpendicular to the equatorial plane 110.

[0117] Reference Figure 4 The direction to the left of the virtual sphere 100 based on the Prime Meridian 101 can be called West Longitude, and the direction to the right of the virtual sphere 100 can be called East Longitude. The Prime Meridian 101 can be a reference for longitude, and can be 0 degrees longitude. The direction above the virtual sphere 100 based on the equatorial plane 110 can be called North Latitude, and the direction below the virtual sphere 100 can be called South Latitude. The equator 111, representing the equatorial plane 110, can be a reference for latitude, and can be 0 degrees latitude.

[0118] In addition, Figure 4 In this context, W90 represents 90 degrees west longitude, E90 represents 90 degrees east longitude, N90 represents 90 degrees north latitude, and S90 represents 90 degrees south latitude.

[0119] In the following description, the latitude and longitude of the rotation axis may refer to the latitude and longitude of the point where the surface of the virtual sphere 100 intersects with the rotation axis. For example, the point where the surface of the virtual sphere 100 intersects with the first rotation axis A1 may be referred to as the point of the first rotation axis A1, the point where the surface of the virtual sphere 100 intersects with the second rotation axis A2 may be referred to as the point of the second rotation axis A2, and the point where the surface of the virtual sphere 100 intersects with the third rotation axis A3 may be referred to as the point of the third rotation axis A3.

[0120] Reference Figure 4The first rotation axis A1 of the first actuator 21 (e.g., a point on the first rotation axis A) may be located north of the equatorial plane 110 and to the left of the Prime Meridian 101. The second rotation axis A2 of the second actuator 22 (e.g., a point on the second rotation axis A2) may be located north of the equatorial plane 110 and to the left of the Prime Meridian 101. In terms of longitude, the second rotation axis A2 (e.g., a point on the second rotation axis A2) may be positioned closer to the Prime Meridian 101 than the first rotation axis A1 (e.g., a point on the first rotation axis A). The third rotation axis A3 of the third actuator 23 (e.g., a point on the third rotation axis A3) may be located south of the equatorial plane 110 and to the left of the Prime Meridian 101. In terms of longitude, the third axis of rotation A3 (e.g., a point on the third axis of rotation A3) may be located between the first axis of rotation A1 (e.g., a point on the first axis of rotation A) and the second axis of rotation A2 (e.g., a point on the second axis of rotation A2).

[0121] In other words, the first axis of rotation A1 (e.g., a point on the first axis of rotation A1), the second axis of rotation A2 (e.g., a point on the second axis of rotation A2), and the third axis of rotation A3 (e.g., a point on the third axis of rotation A3) of the left hip joint 20 may be located to the left of the prime meridian 101. Furthermore, the first axis of rotation A1 (e.g., a point on the first axis of rotation A1) and the second axis of rotation A2 (e.g., a point on the second axis of rotation A2) of the left hip joint 20 may be located above the equatorial plane 110, and the third axis of rotation A3 (e.g., a point on the third axis of rotation A3) of the left hip joint 20 may be located below the equatorial plane 110.

[0122] In the following text, reference will be made to Figures 5 to 7 Describe in detail the tilt angle of each of the first rotation axis A1, the second rotation axis A2, and the third rotation axis A3.

[0123] Figure 5 This is a diagram illustrating the tilt of the first rotation axis A1 of the hip joint (e.g., left hip joint 20) of a humanoid robot 1 according to one or more embodiments of the present disclosure in the geographic coordinate system of a virtual sphere. For reference, Figure 5 Use and Figure 4 The geographic coordinate system of the same virtual sphere 100 shows the tilt angle of the first rotation axis A1 of the first actuator 21.

[0124] Reference Figure 5The first rotation axis A1 of the first actuator 21 may intersect the surface of the virtual sphere 100 at point P1. The longitude a1 of the first rotation axis A1 relative to the prime meridian 101 may be 145 ± 15 degrees west longitude. When the longitude a1 of the first rotation axis A1 is within this angular range, the effect of reducing the required torque and speed of the first actuator 21 can be maximized. Additionally, the latitude b1 of the first rotation axis A1 relative to the equator 111 may be 30 ± 15 degrees north latitude. When the latitude b1 of the first rotation axis A1 is less than 15 degrees north latitude, interference may occur in the left hip joint 20. When the latitude b1 of the first rotation axis A1 exceeds 45 degrees north latitude, the effect of reducing the required torque and speed of the first actuator 21 may be reduced.

[0125] In other words, when the first actuator 21 is configured such that its first axis of rotation A1 is 145±15 degrees west longitude and 30±15 degrees north latitude, the required torque and speed of the first actuator 21 according to one or more embodiments of the present disclosure can be reduced compared to the required torque and speed of the first actuator used in the hip joint according to the comparative example. Therefore, the required specifications of the first actuator 21 according to one or more embodiments of the present disclosure can be lower than the required specifications of the first actuator according to the comparative example.

[0126] Figure 6 This is a diagram illustrating the tilt of the second rotation axis A2 of the hip joint of a humanoid robot 1 according to one or more embodiments of the present disclosure in the geographic coordinate system of a virtual sphere. For reference, Figure 6 Use and Figure 4 The geographic coordinate system of the same virtual sphere 100 shows the tilt angle of the second rotation axis A2 of the second actuator 22.

[0127] Reference Figure 6 The second rotation axis A2 of the second actuator 22 may intersect the surface of the virtual sphere 100 at point P2. The longitude a2 of the second rotation axis A2 relative to the prime meridian 101 may be 37 ± 15 degrees west longitude. When the longitude a2 of the second rotation axis A2 is within this angular range, the effect of reducing the required torque and speed of the second actuator 22 can be maximized. Furthermore, the latitude b2 of the second rotation axis A2 relative to the equator 111 may be 31 ± 15 degrees north latitude. When the latitude b2 of the second rotation axis A2 is within this angular range, the effect of reducing the required torque and speed of the second actuator 22 can be maximized.

[0128] In other words, when the second actuator 22 is configured such that its second axis of rotation A2 is 37±15 degrees west longitude and 31±15 degrees north latitude, the required torque and speed of the second actuator 22 according to one or more embodiments of the present disclosure can be reduced compared to the required torque and speed of the second actuator used in the hip joint according to the comparative example. Therefore, the required specifications of the second actuator 22 according to one or more embodiments of the present disclosure can be lower than the required specifications of the second actuator according to the comparative example.

[0129] Figure 7 This is a diagram illustrating the tilt of the third rotation axis A3 of the hip joint (e.g., left hip joint 20) of a humanoid robot 1 according to one or more embodiments of this disclosure in the geographic coordinate system of a virtual sphere. For reference, Figure 7 Use and Figure 4 The geographic coordinate system of the same virtual sphere 100 shows the tilt angle of the third rotation axis A3 of the third actuator 23.

[0130] Reference Figure 7 The third rotation axis A3 of the third actuator 23 may intersect the surface of the virtual sphere 100 at point P3. The longitude a3 of the third rotation axis A3 relative to the prime meridian 101 may be 90 ± 25 degrees west longitude. When the longitude a3 of the third rotation axis A3 is less than 75 degrees west longitude, a singularity may occur during operation of the left hip joint 20. When the longitude a3 of the third rotation axis A3 exceeds 115 degrees west longitude, the effect of reducing the required torque and speed of the third actuator 23 may be reduced. Additionally, the latitude b3 of the third rotation axis A3 relative to the equator 111 may be 45 ± 15 degrees south latitude. When the latitude b3 of the third rotation axis A3 is less than 30 degrees south latitude, the effect of reducing the required torque and speed of the third actuator 23 may be reduced. When the latitude b3 of the third rotation axis A3 exceeds 60 degrees south latitude, the effect of reducing the required torque and speed of the third actuator 23 may be reduced.

[0131] In other words, when the third actuator 23 is configured such that its third axis of rotation A3 is 90±25 degrees west longitude and 45±15 degrees south latitude, the required torque and speed of the third actuator 23 according to one or more embodiments of the present disclosure can be reduced compared to the required torque and speed of the third actuator used in the hip joint according to the comparative example. Therefore, the required specifications of the third actuator 23 according to one or more embodiments of the present disclosure can be lower than the required specifications of the third actuator according to the comparative example.

[0132] The above has been referred to Figures 4 to 7The left hip joint 20 of a humanoid robot 1 according to one or more embodiments of the present disclosure is described. The right hip joint 40 of the humanoid robot 1 according to one or more embodiments of the present disclosure may be constructed with the same structure as the left hip joint 20 and may be symmetrical with respect to the central vertical plane 15 of the humanoid robot 1.

[0133] In the following text, reference will be made to Figure 8 Describe the tilt angles of the fourth rotation axis A4, the fifth rotation axis A5, and the sixth rotation axis A6 of the right hip joint 40.

[0134] Figure 8 This is a diagram illustrating the tilt of three rotational axes (e.g., fourth rotational axis A4, fifth rotational axis A5, and sixth rotational axis A6) of a humanoid robot 1 relative to one or more embodiments of the present disclosure in the geographic coordinate system of a virtual sphere 100. For reference, Figure 8 Use and Figure 4 The geographic coordinate system of the same virtual sphere 100 shows the tilt angles of the fourth rotation axis A4, the fifth rotation axis A5, and the sixth rotation axis A6 of the right hip joint 40.

[0135] The right hip joint 40 may include three actuators, namely, a fourth actuator 41, a fifth actuator 42, and a sixth actuator 43. The fourth actuator 41, the fifth actuator 42, and the sixth actuator 43 of the right hip joint 40 may be constructed in the same manner as the first actuator 21, the second actuator 22, and the third actuator 23 of the left hip joint 20 described above.

[0136] Therefore, the fourth rotation axis A4, the fifth rotation axis A5, and the sixth rotation axis A6 of the right hip joint 40 may intersect at intersection point O (e.g., the right intersection point). The fourth rotating part of the fourth actuator 41 may rotate about the fourth rotation axis A4. The fifth rotating part of the fifth actuator 42 may rotate about the fifth rotation axis A5. The sixth rotating part of the sixth actuator 43 may rotate about the sixth rotation axis A6.

[0137] Reference Figure 8The fourth rotation axis A4 of the fourth actuator 41 (e.g., point P4 of the fourth rotation axis A4) may be located north of the equatorial plane 110 and to the right of the Prime Meridian 101. The fifth rotation axis A5 of the fifth actuator 42 (e.g., point P5 of the fifth rotation axis A5) may be located north of the equatorial plane 110 and to the right of the Prime Meridian 101. In terms of longitude, the fifth rotation axis A5 (e.g., point P5 of the fifth rotation axis A5) may be positioned closer to the Prime Meridian 101 than the fourth rotation axis A4 (e.g., point P4 of the fourth rotation axis A4). The sixth rotation axis A6 of the sixth actuator 43 (e.g., point P6 of the sixth rotation axis A6) may be located south of the equatorial plane 110 and to the right of the Prime Meridian 101. In terms of longitude, the sixth axis of rotation A6 (e.g., point P6 of the sixth axis of rotation A6) may be located between the fourth axis of rotation A4 (e.g., point P4 of the fourth axis of rotation A4) and the fifth axis of rotation A5 (e.g., point P5 of the fifth axis of rotation A5).

[0138] In other words, the fourth axis of rotation A4 (e.g., point P4), the fifth axis of rotation A5 (e.g., point P5), and the sixth axis of rotation A6 (e.g., point P6) of the right hip joint 40 may be located to the right of the prime meridian 101. Furthermore, the fourth axis of rotation A4 (e.g., point P4) and the fifth axis of rotation A5 (e.g., point P5) of the right hip joint 40 may be located above the equatorial plane 110, and the sixth axis of rotation A6 (e.g., point P6) of the right hip joint 40 may be located below the equatorial plane 110.

[0139] Specifically, the point P4 where the fourth rotation axis A4 of the fourth actuator 41 intersects the surface of the virtual sphere 100 can be 145±15 degrees east longitude and 30±15 degrees north latitude. The point P5 where the fifth rotation axis A5 of the fifth actuator 42 intersects the surface of the virtual sphere 100 can be 37±15 degrees east longitude and 30±15 degrees north latitude. The point P6 where the sixth rotation axis A6 of the sixth actuator 43 intersects the surface of the virtual sphere 100 can be 90±25 degrees east longitude and 45±15 degrees south latitude.

[0140] In the following text, reference will be made to Figures 9 to 17 The effects of the hip joint of the humanoid robot 1 according to one or more embodiments of the present disclosure are described in detail.

[0141] Figure 9 This is a diagram showing the hip joint 300 of a humanoid robot according to a comparative example.

[0142] Reference Figure 9 According to the comparative example, the hip joint 300 of the humanoid robot includes a left hip joint 310 and a right hip joint 320.

[0143] The left hip joint 310 includes a first actuator 311, a second actuator 312, and a third actuator 313. The first actuator 311 is a roll actuator that enables the humanoid robot to perform a roll motion. The second actuator 312 is a yaw actuator that enables the humanoid robot to perform a yaw motion. The third actuator 313 is a pitch actuator that enables the humanoid robot to perform a pitch motion. The first actuator 311, the second actuator 312, and the third actuator 313 are connected in series. In other words, the second actuator 312 is connected to the rotating part of the first actuator 311, the third actuator 313 is connected to the rotating part of the second actuator 312, and the leg is connected to the rotating part of the third actuator 313.

[0144] At least two of the first rotation axis A1, the second rotation axis A2, and the third rotation axis A3 may lie on the same plane. The first rotation axis A1, the second rotation axis A2, and the third rotation axis A3 may be arranged perpendicular to each other. For example, the first rotation axis A1 may be arranged perpendicular to the second rotation axis A2, the second rotation axis A2 may be arranged perpendicular to the third rotation axis A3, and the third rotation axis A3 may be arranged perpendicular to the first rotation axis A1.

[0145] The right hip joint 320 is constructed with the same structure as the left hip joint 310, so its redundant description is omitted.

[0146] Figure 10 and Figure 11 This is a graph showing the changes in pitch torque and pitch speed of the hip joint actuator when the humanoid robot according to the comparative example performs pitch motion. For reference, in Figure 10 In the diagram, the horizontal axis represents the pitch angle of the hip joint, and the vertical axis represents the pitch torque of the actuator. Figure 11 In the diagram, the horizontal axis represents the pitch angle of the hip joint, and the vertical axis represents the pitch speed of the actuator.

[0147] Reference Figure 10 When the humanoid robot according to the comparative example performs pitch motion, only the pitch actuator, i.e., the third actuator 313, operates. The roll actuator and the yaw actuator, i.e., the first actuator 311 and the second actuator 312, do not operate. Therefore, the third actuator 313 generates the torque required for the humanoid robot's pitch motion. Figure 10 In the middle, the maximum torque required by the third actuator 313 is indicated as 1.

[0148] Reference Figure 11 When the humanoid robot according to the comparative example performs a pitch motion, only the pitch actuator, i.e., the third actuator 313, operates. The roll actuator and the yaw actuator, i.e., the first actuator 311 and the second actuator 312, do not operate. Therefore, the third actuator 313 generates a speed corresponding to the speed required for the humanoid robot's pitch motion. Figure 11In this context, the maximum speed indication required by the third actuator 313 is 1.

[0149] Figure 12 and Figure 13 This is a graph showing the changes in roll torque and roll speed of the hip joint actuator when the humanoid robot according to the comparative example performs a roll motion. For reference, in Figure 12 In the diagram, the horizontal axis represents the roll angle of the hip joint, and the vertical axis represents the roll torque of the actuator. Figure 13 In the diagram, the horizontal axis represents the roll angle of the hip joint, and the vertical axis represents the roll speed of the actuator.

[0150] Reference Figure 12 When the humanoid robot according to the comparative example performs a roll motion, only the roll actuator, i.e., the first actuator 311, operates. The yaw actuator and the pitch actuator, i.e., the second actuator 312 and the third actuator 313, do not operate. Therefore, the first actuator 311 generates the torque required for the humanoid robot's roll motion. Figure 12 In this context, the maximum torque required by the first actuator 311 is indicated as -1.

[0151] Reference Figure 13 When the humanoid robot according to the comparative example performs a roll motion, only the roll actuator, i.e., the first actuator 311, operates. The yaw actuator and the pitch actuator, i.e., the second actuator 312 and the third actuator 313, do not operate. Therefore, the first actuator 311 generates a speed corresponding to the speed required for the humanoid robot's roll motion. Figure 13 In this context, the maximum speed required by the first actuator 311 is -1.

[0152] Figure 14 and Figure 15 This is a graph showing the changes in pitch torque and pitch velocity of the hip joint actuator when the humanoid robot 1 according to one or more embodiments of the present disclosure performs pitch motion. For reference, in Figure 14 In the diagram, the horizontal axis represents the pitch angle of the hip joint, and the vertical axis represents the pitch torque of the actuator. Figure 15 In the diagram, the horizontal axis represents the pitch angle of the hip joint, and the vertical axis represents the pitch speed of the actuator.

[0153] Reference Figure 14 When the humanoid robot 1 according to one or more embodiments of this disclosure performs pitch motion, the first actuator 21, the second actuator 22, and the third actuator 23 are all operated. Therefore, the first actuator 21, the second actuator 22, and the third actuator 23 all generate the pitch torque required for the pitch motion of the humanoid robot 1. In other words, the first actuator 21, the second actuator 22, and the third actuator 23 jointly bear the pitch torque required for the pitch motion of the humanoid robot 1.

[0154] exist Figure 14 In this embodiment, when performing pitch motion, the third actuator 23 can handle the maximum portion of the pitch torque required for the pitch motion. At this time, the maximum torque of the third actuator 23 can be 0.71. The pitch torque undertaken by each of the first actuator 21 and the second actuator 22 can be less than the pitch torque undertaken by the third actuator 23. Therefore, compared to the maximum required torque of the pitch actuator (i.e., the third actuator 313) for performing pitch motion on the humanoid robot 1 according to one or more embodiments of this disclosure, the maximum required pitch torque (i.e., the maximum required pitch torque of the third actuator 23) can be reduced by 29% compared to the maximum required torque of the pitch actuator (i.e., the third actuator 313) for performing pitch motion on the humanoid robot 1 according to one or more embodiments of this disclosure.

[0155] Reference Figure 15 When the humanoid robot 1 according to one or more embodiments of this disclosure performs pitch motion, the first actuator 21, the second actuator 22, and the third actuator 23 are all operated. Therefore, the first actuator 21, the second actuator 22, and the third actuator 23 all generate the pitch velocity required for the pitch motion of the humanoid robot 1. In other words, the first actuator 21, the second actuator 22, and the third actuator 23 jointly bear the pitch velocity required for the pitch motion of the humanoid robot 1.

[0156] exist Figure 15 In this embodiment, when performing pitch motion, the third actuator 23 can be responsible for the maximum portion of the pitch speed required for the pitch motion. At this time, the maximum pitch speed of the third actuator 23 can be 0.89. The pitch speed undertaken by each of the first actuator 21 and the second actuator 22 can be less than the pitch speed undertaken by the third actuator 23. Therefore, compared to the maximum required speed of the pitch actuator (i.e., the third actuator 313) for performing pitch motion on the humanoid robot 1 according to one or more embodiments of this disclosure, the maximum required pitch speed (i.e., the maximum required pitch speed of the third actuator 23) can be reduced by 11%.

[0157] Figure 16 and Figure 17 This is a graph showing the changes in roll torque and roll speed of the hip joint actuator when the humanoid robot 1, according to one or more embodiments of the present disclosure, performs a roll motion. For reference, in Figure 16 In the diagram, the horizontal axis represents the roll angle of the hip joint, and the vertical axis represents the roll torque of the actuator. Figure 17 In the diagram, the horizontal axis represents the roll angle of the hip joint, and the vertical axis represents the roll speed of the actuator.

[0158] Reference Figure 16When the humanoid robot 1 according to one or more embodiments of this disclosure performs a rolling motion, the first actuator 21, the second actuator 22, and the third actuator 23 are all operated. Therefore, the first actuator 21, the second actuator 22, and the third actuator 23 all generate the rolling torque required for the rolling motion of the humanoid robot 1. In other words, the first actuator 21, the second actuator 22, and the third actuator 23 jointly bear the rolling torque required for the rolling motion of the humanoid robot 1.

[0159] exist Figure 16 In this embodiment, when performing a roll motion, the first actuator 21 can handle the maximum portion of the roll torque required for the roll motion. At this time, the maximum roll torque of the first actuator 21 can be 0.71. The roll torque undertaken by each of the second actuator 22 and the third actuator 23 can be less than the roll torque undertaken by the first actuator 21. Therefore, compared to the maximum required torque of the roll actuator (i.e., the first actuator 311) for performing a roll motion on a humanoid robot 1 according to one or more embodiments of this disclosure, the maximum required roll torque (i.e., the maximum required roll torque of the first actuator 21) for performing a roll motion on a humanoid robot 1 according to one or more embodiments of this disclosure can be reduced by 29%.

[0160] Reference Figure 17 When the humanoid robot 1 according to one or more embodiments of this disclosure performs a rolling motion, the first actuator 21, the second actuator 22, and the third actuator 23 are all operated. Therefore, the first actuator 21, the second actuator 22, and the third actuator 23 all generate the rolling speed required for the rolling motion of the humanoid robot 1. In other words, the first actuator 21, the second actuator 22, and the third actuator 23 jointly bear the rolling speed required for the rolling motion of the humanoid robot 1.

[0161] exist Figure 17 In this embodiment, when performing a roll motion, the first actuator 21 can handle the maximum portion of the roll speed required for the roll motion. At this time, the maximum roll speed of the first actuator 21 can be 0.81. The roll speed undertaken by each of the second actuator 22 and the third actuator 23 can be less than the roll speed undertaken by the first actuator 21. Therefore, compared to the maximum required speed of the roll actuator (i.e., the first actuator 311) for the humanoid robot 1 performing a roll motion according to one or more embodiments of this disclosure, the maximum required roll speed (i.e., the maximum roll speed of the first actuator 21) can be reduced by 19%.

[0162] In the hip joint of a humanoid robot having the structure described above according to one or more embodiments of the present disclosure, when the humanoid robot performs pitch, roll, and yaw movements, all of the first, second, and third actuators included in the hip joint operate to generate the required torque and speed. Therefore, when performing pitch, roll, and yaw movements, the required specifications of the actuators can be reduced compared to a humanoid robot according to a comparative example in which the pitch, roll, and yaw actuators operate individually.

[0163] In addition, because the hip joint of the humanoid robot according to one or more embodiments of this disclosure is constructed similarly to the human hip joint, the feeling of a foreign object can be reduced.

[0164] Furthermore, the humanoid robot according to one or more embodiments of this disclosure has its legs spaced apart from one side of its lower body. Therefore, when the humanoid robot performs a rolling motion, its range of motion can be widened.

[0165] In the foregoing, non-limiting exemplary embodiments of the present disclosure have been described with reference to the accompanying drawings. However, those skilled in the art will understand that various changes in form and detail may be made without departing from the spirit and scope of the present disclosure.

Claims

1. A hip joint for a humanoid robot, the hip joint comprising: The first actuator includes a first rotating part configured to rotate about a first rotation axis; A second actuator is connected to the first rotating part, the second actuator including a second rotating part configured to rotate about a second rotating axis inclined relative to the first rotating axis; as well as A third actuator, connected to the second rotating part, includes a third rotating part configured to rotate about a third rotating axis that is inclined relative to the second rotating axis.

2. The hip joint of the humanoid robot according to claim 1, wherein, The first rotation axis, the second rotation axis, and the third rotation axis intersect at the intersection point.

3. The hip joint of the humanoid robot according to claim 2, wherein, In the geographic coordinate system of the virtual sphere centered at the intersection point: The first point of the first axis of rotation is 145±15 degrees west longitude relative to the prime meridian of the virtual sphere, and 30±15 degrees north latitude relative to the equator of the virtual sphere; The second point of the second axis of rotation is at 37±15 degrees west longitude relative to the prime meridian and at 31±15 degrees north latitude relative to the equator; and The third point of the third axis of rotation is 90±25 degrees west longitude relative to the prime meridian and 45±15 degrees south latitude relative to the equator. The first point, the second point, and the third point are located on the surface of the virtual sphere.

4. The hip joint of the humanoid robot according to claim 2, wherein, The third rotating part corresponds to the thigh of the humanoid robot's leg, and The center of the thigh is horizontally spaced a certain distance from the intersection point.

5. The hip joint of the humanoid robot according to claim 4, wherein, The distance is 50mm to 120mm.

6. A humanoid robot, comprising: Body; Left leg; The left hip joint, located on the left side of the body, is configured to allow movement of the left leg; Right leg; as well as The right hip joint, located on the right side of the body, is configured to allow movement of the right leg. The left hip joint includes: The first actuator includes a first rotating part configured to rotate about a first rotation axis; A second actuator, connected to the first rotating part, the second actuator including a second rotating part configured to rotate about a second rotating axis inclined relative to the first rotating axis; and A third actuator, connected to the second rotating part, includes a third rotating part configured to rotate about a third rotating axis inclined relative to the second rotating axis, and The right hip joint includes: The fourth actuator includes a fourth rotating part configured to rotate about a fourth rotation axis; A fifth actuator, connected to the fourth rotating part, the fifth actuator including a fifth rotating part configured to rotate about a fifth rotating axis inclined relative to the fourth rotating axis; and A sixth actuator, connected to the fifth rotating part, the sixth actuator including a sixth rotating part configured to rotate about a sixth rotating axis inclined relative to the fifth rotating axis.

7. The humanoid robot according to claim 6, wherein, The first, second, and third rotation axes of the left hip joint intersect at a point.

8. The humanoid robot according to claim 7, wherein, In the geographic coordinate system of the virtual sphere centered at the intersection point: The first point of the first rotation axis of the left hip joint is 145±15 degrees west longitude relative to the prime meridian of the virtual sphere, and 30±15 degrees north latitude relative to the equator of the virtual sphere. The second point of the second rotation axis of the left hip joint is 37±15 degrees west longitude relative to the prime meridian and 31±15 degrees north latitude relative to the equator; and The third point of the third rotation axis of the left hip joint is 90±25 degrees west longitude relative to the prime meridian and 45±15 degrees south latitude relative to the equator. The first point, the second point, and the third point are located on the surface of the virtual sphere.

9. The humanoid robot according to claim 6, wherein, The fourth, fifth, and sixth rotation axes of the right hip joint intersect at a point.

10. The humanoid robot according to claim 9, wherein, In the geographic coordinate system of the virtual sphere centered at the intersection point: The fourth point of the fourth rotation axis of the right hip joint is 145±15 degrees east longitude relative to the prime meridian of the virtual sphere, and 30±15 degrees north latitude relative to the equator of the virtual sphere. The fifth point of the fifth rotation axis of the right hip joint is 37±15 degrees east longitude relative to the prime meridian and 31±15 degrees north latitude relative to the equator; and The sixth point of the sixth rotation axis of the right hip joint is 90±25 degrees east longitude relative to the prime meridian and 45±15 degrees south latitude relative to the equator. The fourth, fifth, and sixth points are located on the surface of the virtual sphere.

11. The humanoid robot according to claim 7, wherein, The third rotating part corresponds to the thigh of the left leg of the humanoid robot, and The center of the thigh is horizontally spaced a certain distance from the intersection point.

12. The humanoid robot according to claim 11, wherein, The distance is 50mm to 120mm.

13. The humanoid robot according to claim 9, wherein, The sixth rotating part corresponds to the thigh of the right leg of the humanoid robot, and The center of the thigh is horizontally spaced a certain distance from the intersection point.

14. The humanoid robot according to claim 13, wherein, The distance is 50mm to 120mm.

Images