Humanoid robot and control method thereof

Abstract

The application relates to the technical field of humanoid robots, in particular to a humanoid robot and a control method thereof, so as to reduce the transportation and use cost of the humanoid robot, and make the humanoid robot be used in more scenes. The humanoid robot comprises a trunk assembly, two leg assemblies and two hip assemblies; the two leg assemblies are arranged at intervals along a first direction; the leg assembly comprises a thigh structure, a shank structure and a knee joint module; the shank structure is connected with the thigh structure through the knee joint module; the knee joint module is configured to drive the shank structure to rotate relative to the thigh structure around a first axis; the two hip assemblies are connected with the trunk assembly; the two hip assemblies are respectively connected with the two leg assemblies; and the hip assembly is configured to drive the leg assembly to stretch and fold relative to the trunk assembly. Therefore, not only the transportation and use cost of the humanoid robot can be reduced, but also the humanoid robot can easily pass through narrow spaces, and the application scene of the humanoid robot can be expanded.

Description

Technical Field

[0001] This application relates to the field of humanoid robot technology, specifically to a humanoid robot and its control method. Background Technology

[0002] In related technologies, humanoid robots are typically rigid structures with fixed external contours, limiting them to a standing posture. This results in a large overall size and significant space requirements. Transporting humanoid robots necessitates custom-made supports or storage boxes, further increasing logistics costs. When not in use, dedicated storage space is often required, further increasing operating costs. Furthermore, the large size of humanoid robots makes them difficult to maneuver in confined spaces, limiting their application scenarios. Therefore, there is an urgent need for a humanoid robot capable of shape transformation, reducing its size and space requirements when not in use, thereby lowering transportation and usage costs and enabling its application in a wider range of scenarios. Summary of the Invention

[0003] In view of this, embodiments of this application provide a humanoid robot and its control method to reduce the transportation and use costs of the humanoid robot, enabling the humanoid robot to be used in more scenarios.

[0004] In a first aspect, embodiments of this application provide a humanoid robot capable of switching between an extended state and a folded state. The humanoid robot includes: a torso assembly; two leg assemblies spaced apart along a first direction, the first direction being the left-right direction of the humanoid robot, each leg assembly including a thigh structure, a lower leg structure, and a knee joint module, the lower leg structure being connected to the thigh structure via the knee joint module, the knee joint module being configured to drive the lower leg structure to rotate relative to the thigh structure about a first axis; and two hip assemblies, each connected to the torso assembly and spaced apart along the first direction, each hip assembly being connected to the two leg assemblies, the hip assemblies being configured to drive the leg assemblies to extend and fold relative to the torso assembly; in the extended state, the leg assemblies extend relative to the torso assembly, the leg assemblies being located on one side of the torso assembly in a second direction, the second direction being the up-down direction of the humanoid robot; in the folded state, the leg assemblies fold relative to the torso assembly, and the two leg assemblies are at least partially located on both sides of the torso assembly in the first direction, the angle between the thigh structure and the lower leg structure being greater than 90°.

[0005] In some embodiments, the humanoid robot further includes: two foot structures connected to the lower leg structures of the two leg components respectively, the foot structures including a heel and a toe; in the folded state, the first axis intersects with a first direction, and the toe is located on one side of the heel in the first direction.

[0006] In some embodiments, the hip assembly includes: a first hip joint module configured to drive a leg assembly to rotate relative to the torso assembly about a second axis to extend and fold the leg assembly relative to the torso assembly, wherein the second axis forms an angle of less than 90° with a first direction; and a second hip joint module connected to the first hip joint module, the second hip joint module being configured to drive the leg assembly to rotate relative to the torso assembly about a third axis to, in a folded state, cause the first axis to intersect with the first direction and the third axis to intersect with the first axis.

[0007] In some embodiments, the hip assembly further includes a third hip joint module connected to the first hip joint module and the second hip joint module, the third hip joint module being configured to drive the leg assembly to rotate relative to the torso assembly about a fourth axis so as to swing the leg assembly in a first direction in a folded state, the fourth axis intersecting both the second axis and the third axis.

[0008] In some embodiments, two ankle components are also included, each connected to a different foot structure. The ankle components include a first ankle joint module configured to drive the foot structure to rotate relative to the lower leg structure about a fifth axis so that, in a folded state, the toe and heel are at different heights.

[0009] In some embodiments, the ankle assembly further includes a second ankle joint module configured to drive the foot structure to rotate relative to the calf structure about a sixth axis, so that in a folded state, the two sides of the foot structure are at different heights in the width direction, and the sixth axis intersects the fifth axis.

[0010] In some embodiments, in the folded state, the two leg components are located on both sides of the torso component in a first direction, and the angle between the thigh structure and the calf structure is greater than or equal to 150° and less than or equal to 180°.

[0011] In some embodiments, the humanoid robot further includes: two arm assemblies spaced apart along a first direction; two shoulder assemblies spaced apart along the first direction, the two shoulder assemblies being connected to both sides of a torso assembly in the first direction, the two shoulder assemblies being connected to the two arm assemblies, and the shoulder assemblies being configured to drive the arm assemblies to move relative to the torso assembly; in a folded state, the two arm assemblies are at least partially located on both sides of the torso assembly in the first direction.

[0012] In some embodiments, the arm assembly includes an upper arm structure, a forearm structure, and an elbow joint module. The forearm structure is connected to the upper arm structure via the elbow joint module, and the elbow joint module is configured to drive the forearm structure to rotate relative to the upper arm structure about a seventh axis. In the folded state, the angle between the upper arm structure and the forearm structure is greater than 90°.

[0013] In some embodiments, the shoulder assembly includes: a first shoulder joint module configured to drive the arm assembly to rotate relative to the torso assembly about an eighth axis, such that the arm assembly swings relative to the torso assembly in a third direction, the third direction being the forward and backward direction of the humanoid robot; and a second shoulder joint module connected to the first shoulder joint module, the second shoulder joint module being configured to drive the arm assembly to rotate relative to the torso assembly about a ninth axis.

[0014] In some embodiments, the shoulder assembly further includes a third shoulder joint module connected to the first shoulder joint module and the third shoulder joint module, the third shoulder joint module being configured to drive the arm assembly to rotate relative to the torso assembly about a tenth axis so that, in a folded state, the arm assembly swings in a first direction, the tenth axis intersecting both the eighth axis and the ninth axis.

[0015] In some embodiments, in the folded state, the two arm assemblies are located on both sides of the torso assembly in a first direction, and the angle between the upper arm structure and the forearm structure is greater than or equal to 150° and less than or equal to 180°.

[0016] In some embodiments, in the folded state, the two arm assemblies are located on both sides of the torso assembly in a first direction, and the two leg assemblies are located on both sides of the torso assembly in the first direction. The two leg assemblies are stacked with the two arm assemblies along a third direction, which is the front-back direction of the humanoid robot.

[0017] In some embodiments, in the folded state, the orthographic projection of the thigh structure along a third direction at least partially overlaps with the orthographic projection of the forearm structure along a third direction; and / or, in the folded state, the orthographic projection of the lower leg structure along a third direction at least partially overlaps with the orthographic projection of the upper arm structure along a third direction.

[0018] In some embodiments, the arm assembly has at least one first clearance recess for avoiding the leg assembly; and / or, the leg assembly has at least one second clearance recess for avoiding the arm assembly.

[0019] In some embodiments, in the folded state, the orthographic projection of the leg assembly along the first direction at least partially overlaps with the orthographic projection of the torso assembly along the first direction, and the orthographic projection of the arm assembly along the first direction at least partially overlaps with the orthographic projection of the torso assembly along the first direction.

[0020] Secondly, embodiments of this application provide a control method for a humanoid robot, the control method comprising: controlling the movement of a hip component to extend a leg component relative to a torso component, the leg component being located on one side of the torso component in a second direction, thereby switching the humanoid robot to an extended state; controlling the movement of the hip component to fold the leg component relative to the torso component, the two leg components being at least partially located on both sides of the torso component, and controlling the movement of a knee joint module to make the angle between the thigh structure and the lower leg structure greater than 90°, thereby switching the humanoid robot to a folded state.

[0021] The humanoid robot of this application embodiment, by configuring the hip assembly to drive the leg assembly to extend and fold relative to the torso assembly, allows the humanoid robot to switch between extended and folded states. When the humanoid robot is in the extended state, the leg assembly extends relative to the torso assembly and is located on one side of the torso assembly in a second direction, enabling actions such as standing and walking. When the humanoid robot is in the folded state, the leg assembly folds relative to the torso assembly, and at least partially, both leg assemblies are located on opposite sides of the torso assembly in a first direction. This not only reduces the height of the humanoid robot but also fully utilizes the space on both sides of the torso assembly to accommodate the leg assemblies, reducing the volume of the humanoid robot in the folded state. Therefore, reducing the space occupied by the humanoid robot in the folded state not only reduces transportation and usage costs but also facilitates its passage through narrow spaces, thus expanding the application scenarios of the humanoid robot. Attached Figure Description

[0022] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain the application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts.

[0023] Figure 1 The image shown is a perspective view of a humanoid robot in an extended state according to an embodiment of this application.

[0024] Figure 2 The image shown is a front view of a humanoid robot in an extended state according to an embodiment of this application.

[0025] Figure 3 The diagram shown is a simplified structural diagram of a humanoid robot in an extended state according to an embodiment of this application.

[0026] Figure 4 The diagram shown is a partial structural schematic of the hip and waist components of a humanoid robot provided in an embodiment of this application when it is in an extended state.

[0027] Figure 5 The diagram shown is a partial structural schematic of the hip and waist components of a humanoid robot provided in an embodiment of this application when it is in an extended state (hip shell not shown).

[0028] Figure 6 The image shown is a perspective view of a humanoid robot provided in an embodiment of this application in a folded state.

[0029] Figure 7 The image shown is a side view of a humanoid robot provided in an embodiment of this application when it is in a folded state.

[0030] Figure 8 The image shown is a front view of a humanoid robot provided in an embodiment of this application when it is in a folded state.

[0031] Figure 9 The diagram shown is a partial structural schematic of the hip and waist components of a humanoid robot provided in an embodiment of this application when it is in a folded state.

[0032] Figure 10 The diagram shown is a structural schematic of the leg and foot components of a humanoid robot provided in an embodiment of this application when it is in an extended state (part of the thigh structure, part of the lower leg structure and part of the foot structure are not shown).

[0033] Figure 11 The diagram shown is a structural schematic of the leg and foot components of a humanoid robot provided in an embodiment of this application when it is in a folded state.

[0034] Figure 12 The diagram shown is a structural schematic of the arm assembly, shoulder assembly, and hand assembly of a humanoid robot provided in an embodiment of this application when it is in an extended state (part of the upper arm structure and part of the forearm structure are not shown).

[0035] Figure 13 The diagram shown is a structural schematic of the arm assembly, shoulder assembly, and hand assembly of a humanoid robot provided in an embodiment of this application when it is in a folded state.

[0036] Figure 14 The diagram shown is a simplified structural diagram of a humanoid robot in an extended state according to another embodiment of this application.

[0037] Figure label: 100. Humanoid robot; 1. Torso assembly; 11. Handle; 12. Torso shell; 2. Leg components; 21. Thigh structure; 22. Lower leg structure; 23. Knee joint module; 3. Hip assembly; 31. First hip joint module; 32. Second hip joint module; 33. Third hip joint module; 34. Hip shell; 4. Foot structure; 41. Toe area; 42. Heel area; 5. Ankle assembly; 51. First ankle joint module; 52. Second ankle joint module; 53. Connecting rod; 6. Arm assembly; 61. Upper arm structure; 62. Forearm structure; 63. Elbow joint module; 64. First clearance recess; 7. Shoulder assembly; 71. First shoulder joint module; 72. Second shoulder joint module; 73. Third shoulder joint module; 8. Header components; 9. Hand components; 10. Waist component; 101. First lumbar joint module; 102. Second lumbar joint module; L1, First Axis; L2, Second Axis; L3, Third Axis; L4, Fourth Axis; L5, Fifth Axis; L6, Sixth Axis; L7, Seventh Axis; L8, Eighth Axis; L9, Ninth Axis; L10, Tenth Axis; L11, Eleventh Axis; L12, Twelfth Axis; m1, first datum plane; m2, second datum plane; m3, third datum plane; m4, fourth datum plane; D. Preset distance. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0039] Figure 1 The image shown is a perspective view of a humanoid robot in an extended state according to an embodiment of this application. Figure 2 The image shown is a front view of a humanoid robot in an extended state according to an embodiment of this application. Figure 3 The diagram shown is a simplified structural diagram of a humanoid robot in an extended state according to an embodiment of this application. Figure 4 The diagram shown is a partial structural schematic of the hip and waist components of a humanoid robot provided in an embodiment of this application when it is in an extended state. Figure 5 The diagram shown is a partial structural schematic of the hip and waist components of a humanoid robot provided in an embodiment of this application when it is in an extended state (hip shell not shown). Figure 6 The image shown is a perspective view of a humanoid robot provided in an embodiment of this application in a folded state. Figure 7 The image shown is a side view of a humanoid robot provided in an embodiment of this application when it is in a folded state. Figure 8 The image shown is a front view of a humanoid robot provided in an embodiment of this application when it is in a folded state. Figure 9 The diagram shown is a partial structural schematic of the hip and waist components of a humanoid robot provided in an embodiment of this application when it is in a folded state.

[0040] like Figures 1 to 3 , Figures 6 to 8 As shown, the humanoid robot 100 can switch between an extended state and a folded state. The humanoid robot 100 includes a torso assembly 1, two leg assemblies 2, and two hip assemblies 3. The two leg assemblies 2 are spaced apart along a first direction, and the two hip assemblies 3 are both connected to the torso assembly 1 and spaced apart along the first direction, which is the left-right direction of the humanoid robot 100. Each leg assembly 2 includes a thigh structure 21, a lower leg structure 22, and a knee joint module 23. The lower leg structure 22 is connected to the thigh structure 21 via the knee joint module 23, which is configured to drive the lower leg structure 22 to rotate relative to the thigh structure 21 about a first axis L1. Each hip assembly 3 is connected to one of the two leg assemblies 2, and the hip assemblies 3 are configured to drive the leg assemblies 2 to extend and fold relative to the torso assembly 1. In the extended state, the leg assemblies 2 are extended relative to the torso assembly 1, and are located to one side of the torso assembly 1 in a second direction, which is the up-down direction of the humanoid robot 100. In the folded state, the leg assembly 2 is folded relative to the torso assembly 1, and the two leg assemblies 2 are at least partially located on both sides of the torso assembly 1 in a first direction, with the angle between the thigh structure 21 and the lower leg structure 22 being greater than 90°.

[0041] The two leg components 2 are at least partially located on either side of the torso component 1 in a first direction. This can be understood as follows: the two leg components 2 are entirely located on either side of the torso component 1 in a first direction; or, a portion of the two leg components 2 is located on either side of the torso component 1 in a first direction, and another portion of the two leg components 2 is aligned with the torso component 1 in the first direction. For example, a portion of the two leg components 2 is located on either side of the torso component 1 in a first direction, and another portion of the two leg components 2 is located on one side of the torso component 1 in a third direction.

[0042] For example, two leg components 2 are spaced apart in the left-right direction, and two hip components 3 are spaced apart in the left-right direction. The upper part of the hip component 3 is connected to the torso component 1. The hip component 3 located on the left is connected to the leg component 2 located on the left, and the hip component 3 located on the right is connected to the leg component 2 located on the right.

[0043] For example, such as Figures 1 to 3As shown, the humanoid robot 100 has an initial position. When the humanoid robot 100 is in the initial position, when the humanoid robot 100 is in an extended state, the first axis L1 can extend along the left and right directions of the humanoid robot 100, and the leg assembly 2 is located below the torso assembly 1 in the vertical direction of the humanoid robot 100.

[0044] For example, such as Figures 6 to 8 As shown, when the humanoid robot 100 is in a folded state, the leg components 2 bend upward relative to the torso components 1, so that the leg components 2 are folded relative to the torso components 1, and the two leg components 2 are located on both sides of the torso components 1 in the left and right directions respectively.

[0045] The humanoid robot 100 of this embodiment configures the hip assembly 3 to drive the leg assembly 2 to extend and fold relative to the torso assembly 1, allowing the humanoid robot 100 to switch between extended and folded states. When the humanoid robot 100 is in the extended state, the leg assembly 2 extends relative to the torso assembly 1, and the leg assembly 2 is located on one side of the torso assembly 1 in a second direction, enabling actions such as standing and walking. When the humanoid robot 100 is in the folded state, the leg assembly 2 folds relative to the torso assembly 1, and the two leg assemblies 2 are at least partially located on both sides of the torso assembly 1 in the first direction. This not only reduces the height of the humanoid robot 100 but also fully utilizes the space on both sides of the torso assembly 1 to accommodate the leg assembly 2, reducing the volume of the humanoid robot 100 in the folded state. Therefore, reducing the space occupied by the humanoid robot 100 in the folded state not only reduces the transportation and usage costs of the humanoid robot 100 but also facilitates its passage through narrow spaces, thus expanding the application scenarios of the humanoid robot 100.

[0046] Furthermore, it is understood that when the thigh structure 21 and the lower leg structure 22 are folded, a large gap usually occurs between them due to their shapes and interference. This gap increases the space occupied by the humanoid robot 100 in its folded state. In this embodiment, the humanoid robot 100 is designed such that the angle between the thigh structure 21 and the lower leg structure 22 is greater than 90°. This avoids folding the thigh structure 21 and the lower leg structure 22, thus preventing a large gap from forming and increasing the space occupied by the humanoid robot 100 in its folded state.

[0047] In some embodiments, such as Figures 1 to 3 , Figures 6 to 8As shown, the humanoid robot 100 also includes two foot structures 4, which are respectively connected to the lower leg structures 22 of the two leg components 2. The foot structure 4 includes a heel 42 and a toe 41. In the folded state, the first axis L1 intersects with the first direction, and the toe 41 is located on one side of the heel 42 in the first direction.

[0048] For example, two foot structures 4 are spaced apart in the left-right direction. The foot structure 4 on the left is connected to the lower leg structure 22 of the leg assembly 2 on the left, and the foot structure 4 on the right is connected to the lower leg structure 22 of the leg assembly 2 on the right. Figures 1 to 3 As shown, in the initial state, the first axis L1 extends in the left-right direction. Figures 6 to 8 As shown, in the folded state, the first axis L1 extends obliquely in the front-back direction, and the angle between the first axis L1 and the front-back direction is an acute angle. The toe portion 41 of the foot structure 4 on the left side is located to the left of the heel portion 42, and the toe portion 41 of the foot structure 4 on the right side is located to the right of the heel portion 42.

[0049] The length of the foot structure 4 is typically large, requiring a significant amount of space along its length. The thickness of the torso component 1 is typically thinner, being less than the length of the foot structure 4. If the humanoid robot 100 simply raises the leg component 2 to fold it relative to the torso component 1, the length of the foot structure 4 aligns with the thickness of the torso component 1. This means the foot structure 4 requires additional space beyond the thickness of the torso component 1, resulting in a larger volume for the folded humanoid robot 100. Furthermore, the width of the torso component 1 is typically greater than its thickness, with a significant difference between the two. If the length of the foot structure 4 is made approximately the same as the width of the torso component 1, the space in the width direction of the torso component 1 can be fully utilized to accommodate the foot structure 4, reducing the space occupied by the foot structure 4 outside the torso component 1.

[0050] By setting the humanoid robot 100 in a folded state, with the first axis L1 intersecting the first direction and the toe portion 41 located on one side of the heel portion 42 in the first direction, the foot structure 4 can make full use of the space in the width direction of the torso component 1, reducing the space occupied by the foot structure 4 other than the torso component 1, further reducing the space occupied by the humanoid robot 100 in the folded state, further reducing the transportation and use costs of the humanoid robot 100, and expanding the application scenarios of the humanoid robot 100.

[0051] In some embodiments, such as Figure 3 and Figure 5As shown, the hip assembly 3 includes a first hip joint module 31 and a second hip joint module 32, with the second hip joint module 32 connected to the first hip joint module 31. The first hip joint module 31 is configured to drive the leg assembly 2 to rotate relative to the torso assembly 1 about a second axis L2, so that the leg assembly 2 can extend and fold relative to the torso assembly 1, with the angle between the second axis L2 and the first direction being less than 90°. The second hip joint module 32 is configured to drive the leg assembly 2 to rotate relative to the torso assembly 1 about a third axis L3, so that in the folded state, the first axis L1 intersects the first direction, and the third axis L3 intersects the first axis L1.

[0052] For example, such as Figures 3 to 5 , Figure 9 As shown, the second axis L2 extends obliquely in the left-right direction, and the angle between the second axis L2 and the left-right direction is an acute angle. The third axis L3 can be perpendicular to the second axis L2, and the angle between the third axis L3 and the second axis L2 can also be an acute angle. For example, the angle between the second axis L2 and the left-right direction is 5° to 45°, and the angle between the third axis L3 and the second axis L2 is 30° to 80°.

[0053] For example, such as Figures 3 to 5 As shown, in the initial state, the third axis L3 extends vertically, and the lower leg structure 22 is located below the thigh structure 21. In the folded state, the third axis L3 extends obliquely vertically, and the lower leg structure 22 is located above the thigh structure 21. For example, in the folded state, the angle between the third axis L3 and the vertical direction is 5° to 20°.

[0054] For example, when the humanoid robot 100 is in the working state, it is in an extended state. The first hip joint module 31 drives the leg component 2 to rotate relative to the torso component 1 around the second axis L2, allowing the leg component 2 to swing back and forth. The second hip joint module 32 drives the leg component 2 to rotate relative to the torso component 1 around the third axis L3, allowing the leg component 2 to rotate inward and outward, changing the orientation of the toes 41. When the humanoid robot 100 switches from the extended state to the folded state, the first hip joint module 31 drives the leg component 2 to swing forward at a large angle (e.g., 150°~180°) until the leg component 2 folds with the torso component 1. The second hip joint module 32 drives the leg component 2 to rotate outward at a large angle (e.g., 80°~100°), causing the toes 41 to face outward.

[0055] By configuring the hip assembly 3 to include a first hip joint module 31 and a second hip joint module 32, the first hip joint module 31 and the second hip joint module 32 not only drive the leg assembly 2 to complete relevant actions when the humanoid robot 100 is in working state, but also realize the switching between the humanoid robot 100's extended state and folded state. Alternatively, utilizing the first hip joint module 31 and the second hip joint module 32 of the humanoid robot 100 in related technologies to enable the leg assembly 2 to complete relevant actions, the switching between the humanoid robot 100's extended state and folded state is achieved. This achieves the switching function between the humanoid robot 100's extended and folded states with minimal or no additional components.

[0056] In some embodiments, such as Figures 3 to 5 , Figure 9 As shown, the hip assembly 3 also includes a third hip joint module 33, which is connected to the first hip joint module 31 and the second hip joint module 32. The third hip joint module 33 is configured to drive the leg assembly 2 to rotate relative to the torso assembly 1 about a fourth axis L4, so that in the folded state, the leg assembly 2 swings in a first direction, the fourth axis L4 intersecting both the second axis L2 and the third axis L3.

[0057] For example, the fourth axis L4 is perpendicular to the third axis L3, and the angle between the fourth axis L4 and the second axis L2 is an acute angle.

[0058] For example, such as Figures 1 to 5 As shown, in the initial state, the fourth axis L4 extends in the front-to-back direction. Figures 6 to 9 As shown, in the folded state, the fourth axis L4 extends obliquely in the front-back direction, and the angle between the fourth axis L4 and the front-back direction is acute. Furthermore, the fourth axis L4 and the first axis L1 extend in the same direction. For example, in the folded state, the angle between the fourth axis L4 and the front-back direction is 5° to 45°.

[0059] For example, when the humanoid robot 100 is in the working state, it is in an extended state. The third hip joint module 33 drives the leg component 2 to rotate relative to the torso component 1 around the fourth axis L4, allowing the leg component 2 to swing laterally, opening outward or retracting inward. When the humanoid robot 100 switches from the extended state to the folded state, the third hip joint module 33 drives the leg component 2 to swing outward by a small angle (e.g., 20°~30°), opening the leg component 2 outward. Meanwhile, the knee joint module 23 drives the lower leg structure 22 to rotate relative to the thigh structure 21 around the first axis L1 by a small angle (e.g., 20°~40°), retracting the lower leg structure 22 inward, so that the leg component 2 as a whole is in a folded state. Figures 3 to 8The state shown not only allows the leg component 2 to avoid the torso component 1, but also makes the overall space occupied by the leg component 2 smaller.

[0060] By configuring the hip assembly 3 to include a third hip joint module 33, the third hip joint module 33 not only drives the leg assembly 2 to complete relevant actions when the humanoid robot 100 is in working state, but also enables the humanoid robot 100 to switch between an extended state and a folded state. Alternatively, by utilizing the third hip joint module 33 of the humanoid robot 100 in related technologies to enable the leg assembly 2 to complete relevant actions, the humanoid robot 100 can switch between an extended state and a folded state. This achieves the function of switching between an extended state and a folded state for the humanoid robot 100 with few or no additional parts.

[0061] Figure 10 The diagram shown is a schematic diagram of the leg assembly 2 and foot structure 4 of a humanoid robot 100 provided in an embodiment of this application when it is in an extended state (part of the thigh structure 21, part of the lower leg structure 22 and part of the foot structure 4 are not shown). Figure 11 The diagram shown is a structural schematic of the leg assembly 2 and foot structure 4 of a humanoid robot 100 provided in an embodiment of this application when it is in a folded state.

[0062] In some embodiments, such as Figures 1 to 3 , Figures 6 to 8 As shown, the humanoid robot 100 also includes two ankle components 5, which are respectively connected to two foot structures 4. Figure 10 and Figure 11 As shown, the ankle assembly 5 includes a first ankle joint module 51, which is configured to drive the foot structure 4 to rotate relative to the lower leg structure 22 about a fifth axis L5 so that, in a folded state, the toe portion 41 and the heel portion 42 are at different heights.

[0063] For example, the fifth axis L5 is parallel to the first axis L1, such as... Figure 3 and Figure 10 As shown, in the initial state, the fifth axis L5 extends in the left-right direction. In the folded state, the toe portion 41 is positioned higher than the heel portion 42.

[0064] When the humanoid robot 100 switches from an extended state to a folded state, the first ankle joint module 51 drives the foot structure 4 to swing inward at a small angle (e.g., 10°~20°), causing the foot structure 4 to retract inward, with the toe 41 higher than the heel 42, in order to reduce the space occupied by the foot structure 4 in the first direction.

[0065] By setting the first ankle joint module 51, the humanoid robot 100 is configured in a folded state with the toe part 41 and the heel part 42 at different heights. The space occupied by the foot structure 4 in the first direction can be adjusted as needed, thereby reducing the space occupied by the foot structure 4 in the first direction excluding the torso component 1. This further reduces the space occupied by the humanoid robot 100 in the folded state, further reduces the transportation and use costs of the humanoid robot 100, and expands the application scenarios of the humanoid robot 100.

[0066] For example, when the humanoid robot 100 is in working state, it is in an extended state. The first ankle joint module 51 drives the foot structure 4 to rotate relative to the lower leg structure 22 around the fifth axis L5, allowing the foot structure 4 to swing back and forth, enabling only the toes 41 or only the heel 42 to touch the ground. When the humanoid robot 100 switches from the extended state to the folded state, the first ankle joint module 51 drives the foot structure 4 to retract inward or open outward, so that the toes 41 and heel 42 are at different heights. This achieves the switching function between the extended and folded states of the humanoid robot 100 with few or no additional components.

[0067] In some embodiments, the ankle assembly 5 further includes a second ankle joint module 52, which is configured to drive the foot structure 4 to rotate relative to the calf structure 22 about a sixth axis L6 so that, in a folded state, the two sides of the foot structure 4 are at different heights in the width direction, and the sixth axis L6 intersects with the fifth axis L5.

[0068] For example, the sixth axis L6 is perpendicular to the fifth axis L5. (e.g.) Figure 3 and Figure 10 As shown, in the initial state, the sixth axis L6 extends along the front-to-back direction. In the folded state, the sixth axis L6 extends obliquely along the left-to-right direction, and the angle between the sixth axis L6 and the left-to-right direction is an acute angle. For example, in the folded state, the acute angle between the sixth axis L6 and the left-to-right direction is 5° to 20°.

[0069] For example, in the folded state, the width direction of the foot structure 4 is consistent with the front-back direction, and the rear side of the foot structure 4 is higher than the front side of 4.

[0070] For example, such as Figure 10As shown, the first ankle joint module 51 is fixed inside the lower leg structure 22. The first ankle joint module 51 is rotatably connected to the second ankle joint module 52 via a connecting rod 53. The second ankle joint module 52 is connected to the foot structure. Thus, the first ankle joint module 51 drives the foot structure 4 to rotate relative to the lower leg structure 22 around the fifth axis L5, and the second ankle joint module 52 drives the foot structure 4 to rotate relative to the lower leg structure 22 around the sixth axis L6.

[0071] For example, when the humanoid robot 100 switches from an extended state to a folded state, the second ankle joint module 52 drives the foot structure 4 to swing forward at a small angle (e.g., 5°~10°), causing the foot structure 4 to tilt forward, thereby reducing the space occupied by the foot structure 4 in the third direction.

[0072] By setting the second ankle joint module 52, the humanoid robot 100 is configured in a folded state, with the two sides of the foot structure 4 at different heights in the width direction. The space occupied by the foot structure 4 in the third direction can be adjusted as needed, thereby reducing the space occupied by the foot structure 4 in the third direction, excluding the torso component 1. This further reduces the space occupied by the humanoid robot 100 in the folded state, further reduces the transportation and use costs of the humanoid robot 100, and expands the application scenarios of the humanoid robot 100.

[0073] For example, when the humanoid robot 100 is in its working state, it is in an extended state. The second ankle joint module 52 drives the foot structure 4 to rotate relative to the lower leg structure 22 around the sixth axis L6, allowing the foot structure 4 to swing laterally, i.e., one side of the foot structure 4 is on the ground while the other side is off the ground. When the humanoid robot 100 switches from the extended state to the folded state, the second ankle joint module 52 drives the foot structure 4 to swing laterally, so that the two sides of the foot structure 4 are at different heights in the width direction. This achieves the switching function between the extended and folded states of the humanoid robot 100 with few or no additional components.

[0074] In some embodiments, such as Figures 6 to 8 As shown, in the folded state, the two leg components 2 are located on both sides of the torso component 1 in the first direction, and the angle between the thigh structure 21 and the calf structure 22 is greater than or equal to 150° and less than or equal to 180°.

[0075] For example, in the folded state, the angle between the thigh structure 21 and the calf structure 22 is 150°, 152°, 155°, 157°, 160°, 163°, 165°, 166°, 168°, 170°, 171°, 173°, 175°, 177°, 179° or 180°.

[0076] For example, such as Figure 8 As shown, in the folded state, the thigh structure 21 of the right leg assembly 2 gradually tilts to the right from bottom to top, and the calf structure 22 gradually tilts to the left from bottom to top; the thigh structure 21 of the left leg assembly 2 gradually tilts to the left from bottom to top, and the calf structure 22 gradually tilts to the right from bottom to top, such that the angle between the thigh structure 21 and the calf structure 22 is greater than or equal to 150° and less than 180°.

[0077] By setting the humanoid robot 100 in a folded state such that the two leg components 2 are located on both sides of the torso component 1 in the first direction, and the angle between the thigh structure 21 and the lower leg structure 22 is greater than or equal to 150° and less than or equal to 180°, the two leg components 2 can make full use of the space on the left and right sides of the torso component 1, reducing the extra space occupied by the leg components 2 other than the torso component 1, further reducing the space occupied by the humanoid robot 100 in the folded state, further reducing the transportation and use costs of the humanoid robot 100, and expanding the application scenarios of the humanoid robot 100.

[0078] In some embodiments, such as Figures 1 to 3 , Figures 6 to 8 As shown, the humanoid robot 100 also includes two arm assemblies 6 and two shoulder assemblies 7. The two arm assemblies 6 are spaced apart along a first direction, and the two shoulder assemblies 7 are also spaced apart along a first direction. The two shoulder assemblies 7 are respectively connected to the two sides of the torso assembly 1 in the first direction, and the two shoulder assemblies 7 are respectively connected to the two arm assemblies 6. The shoulder assemblies 7 are configured to drive the arm assemblies 6 to move relative to the torso assembly 1. In the folded state, the two arm assemblies 6 are at least partially located on the two sides of the torso assembly 1 in the first direction.

[0079] The two arm components 6 are at least partially located on either side of the torso component 1 in a first direction. This can be understood as follows: the two arm components 6 are entirely located on either side of the torso component 1 in a first direction; or, a portion of the two arm components 6 is located on either side of the torso component 1 in a first direction, and another portion of the two arm components 6 is aligned with the torso component 1 in the first direction. For example, a portion of the two arm components 6 is located on either side of the torso component 1 in a first direction, and another portion of the two arm components 6 is located on one side of the torso component 1 in a third direction.

[0080] For example, two arm assemblies 6 are spaced apart in the left-right direction, and two shoulder assemblies 7 are arranged spaced apart in the left-right direction, with the two shoulder assemblies 7 respectively connected to the left and right sides of the torso structure. The arm assembly 6 located on the left side is connected to the shoulder assembly 7 located on the left side, and the arm assembly 6 located on the right side is connected to the shoulder assembly 7 located on the right side.

[0081] For example, such as Figures 1 to 3 As shown, in the initial state, the two arm components 6 are located on the left and right sides of the torso component 1, respectively. Figures 6 to 8 The two arm components 6 shown are also located on the left and right sides of the torso component 1, respectively.

[0082] Understandably, in the folded state, the arm assembly 6 and the leg assembly 2, regardless of their placement, will occupy space in the left-right and / or front-back directions of the torso assembly 1. The shoulder assembly 7, which connects the torso assembly 1 and the arm assembly 6, and the hip assembly 3, which connects the torso assembly 1 and the leg assembly 2, are both located on the left and right sides of the torso assembly 1. Therefore, the arm assembly 6 and the leg assembly 2 will inevitably occupy space in the left-right direction of the torso assembly 1.

[0083] By setting the humanoid robot 100 in a folded state such that the two arm components 6 are at least partially located on both sides of the torso component 1 in the first direction, the space near the shoulder component 7 can be fully utilized to place the arm components 6, reducing the extra space occupied by the arm components 6 other than the torso component 1 and the shoulder component 7, further reducing the space occupied by the humanoid robot 100 in the folded state, further reducing the transportation and use costs of the humanoid robot 100, and expanding the application scenarios of the humanoid robot 100.

[0084] Figure 12 The diagram shown is a schematic diagram of the structure of the arm assembly 6, shoulder assembly 7 and hand assembly 9 of the humanoid robot 100 provided in an embodiment of this application when it is in an extended state (part of the upper arm structure 61 and part of the forearm structure 62 are not shown). Figure 13 The diagram shown is a structural schematic of the arm assembly 6, shoulder assembly 7, and hand assembly 9 of a humanoid robot 100 provided in an embodiment of this application when it is in a folded state.

[0085] In some embodiments, such as Figure 2 , Figure 3 , Figure 7 , Figure 12 and Figure 13 As shown, the arm assembly 6 includes an upper arm structure 61, a forearm structure 62, and an elbow joint module 63. The forearm structure 62 is connected to the upper arm structure 61 via the elbow joint module 63. The elbow joint module 63 is configured to drive the forearm structure 62 to rotate relative to the upper arm structure 61 about a seventh axis L7 (left-right). In the folded state, the angle between the upper arm structure 61 and the forearm structure 62 is greater than 90°.

[0086] like Figures 1 to 3 As shown, in the initial state, the seventh axis L7 extends perpendicularly to the left-right direction. Figure 7 As shown, in the folded state, the seventh axis L7 extends perpendicularly to the left and right directions, and the angle between the seventh axis L7 and the left and right directions is an acute angle.

[0087] Understandably, when there is sufficient space below the shoulder assembly 7 to place the arm assembly 6, placing the arm assembly 6 directly below the shoulder assembly 7 can reduce the additional space occupied by the arm assembly 6 other than the torso assembly 1 and the shoulder assembly 7, further reducing the space occupied by the humanoid robot 100 in the folded state, further reducing the transportation and use costs of the humanoid robot 100, and expanding the application scenarios of the humanoid robot 100.

[0088] Furthermore, similar to the leg assembly 2, when the upper arm structure 61 and forearm structure 62 are folded, a large gap usually occurs between them due to their shapes and interference. This gap increases the space occupied by the humanoid robot 100 in the folded state. In this embodiment, the humanoid robot 100 is configured such that the angle between the upper arm structure 61 and forearm structure 62 is greater than 90°. This avoids folding the upper arm structure 61 and forearm structure 62, thus preventing the large gap caused by folding and the resulting increase in space occupied by the humanoid robot 100 in the folded state.

[0089] For example, such as Figures 1 to 3 As shown, when the humanoid robot 100 is in its initial position, both leg components 2 are in a standing position, and both arm components 6 are in a naturally hanging position. Specifically, the two leg components 2 are located on the lower side of the torso structure, and are located on the left and right sides of the hip component 3, with the angle between the thigh structure 21 and the lower leg structure 22 being approximately 180°. The two arm components 6 are located on the left and right sides of the torso component 1, with the angle between the upper arm structure 61 and the forearm structure 62 being approximately 180°. The angle being approximately 180° can be understood as the angle fluctuating by 10° above or below 180°.

[0090] In some embodiments, the shoulder assembly 7 includes a first shoulder joint module 71 and a second shoulder joint module 72, the second shoulder joint module 72 being connected to the first shoulder joint module 71. The first shoulder joint module 71 is configured to drive the arm assembly 6 to rotate relative to the torso assembly 1 about an eighth axis L8, causing the arm assembly 6 to swing relative to the torso assembly 1 in a third direction. The second shoulder joint module 72 is configured to drive the arm assembly 6 to rotate relative to the torso assembly 1 about a ninth axis L9.

[0091] For example, the eighth axis L8 extends obliquely in the left-right direction, and the angle between the eighth axis L8 and the left-right direction is an acute angle. The ninth axis L9 can be perpendicular to the eighth axis L8, and the angle between the ninth axis L9 and the eighth axis L8 can also be an acute angle. For example, the angle between the eighth axis L8 and the left-right direction is 5° to 45°. The angle between the ninth axis L9 and the eighth axis L8 is 30° to 80°.

[0092] For example, such as Figure 3 and Figure 7 As shown, in both the initial and folded states, the eighth axis L8 extends in the same direction, and the ninth axis L9 extends in roughly the same direction, with the forearm structure 62 located below the upper arm structure 61. The roughly identical extension directions can be understood as the angle between the extension directions not exceeding 20°.

[0093] For example, when the humanoid robot 100 is in the working state, it is in an extended state. The first shoulder joint module 71 drives the arm assembly 6 to rotate relative to the torso assembly 1 around the eighth axis L8, allowing the arm assembly 6 to swing back and forth. The second shoulder joint module 72 drives the arm assembly 6 to rotate relative to the torso assembly 1 around the ninth axis L9, allowing the arm assembly 6 to rotate inward and outward, changing the orientation of the hand assembly 9. When the humanoid robot 100 switches from the extended state to the folded state, the first shoulder joint module 71 drives the arm assembly 6 to swing backward by a small angle (e.g., 15°~25°), and the second shoulder joint module 72 drives the arm assembly 6 to rotate inward by a small angle (e.g., 5°~10°), so that the arm assembly 6 is located inside the leg assembly 2 in the left-right direction.

[0094] By configuring the shoulder assembly 7 to include a first shoulder joint module 71 and a second shoulder joint module 72, the first shoulder joint module 71 and the second shoulder joint module 72 not only drive the arm assembly 6 to complete relevant actions when the humanoid robot 100 is in working state, but also realize the switching between the humanoid robot 100's extended state and folded state. Alternatively, utilizing the first shoulder joint module 71 and the second shoulder joint module 72 of the humanoid robot 100 in related technologies to enable the arm assembly 6 to complete relevant actions, the switching between the humanoid robot 100's extended state and folded state is achieved. This achieves the switching function between the humanoid robot 100's extended and folded states with few or no additional components.

[0095] In some embodiments, the shoulder assembly 7 further includes a third shoulder joint module 73, which is connected to the first shoulder joint module 71 and the second shoulder joint module 72. The third shoulder joint module 73 is configured to drive the arm assembly 6 to rotate relative to the torso assembly 1 about a tenth axis L10, so that in a folded state, the arm assembly 6 swings in a first direction, the tenth axis L10 intersecting both the eighth axis L8 and the ninth axis L9.

[0096] For example, the tenth axis L10 is perpendicular to the ninth axis L9, and the angle between the tenth axis L10 and the eighth axis L8 is an acute angle.

[0097] For example, such as Figures 1 to 3 As shown, in the initial state, the tenth axis L10 extends in the front-to-back direction. Figure 7 As shown, in the folded state, the tenth axis L10 extends obliquely in the front-back direction, and the angle between the tenth axis L10 and the front-back direction is an acute angle.

[0098] For example, when the humanoid robot 100 is in the working state, it is in an extended state. The third shoulder joint module 73 drives the arm assembly 6 to rotate relative to the torso assembly 1 around the tenth axis L10, allowing the arm assembly 6 to swing laterally, opening outward or retracting inward. When the humanoid robot 100 switches from the extended state to the folded state, the third shoulder joint module 73 drives the arm assembly 6 to swing inward by a small angle (e.g., 5°~10°), causing the arm assembly 6 to retract inward. Furthermore, the elbow joint module 63 drives the forearm structure 62 to rotate relative to the upper arm structure 61 around the seventh axis L7 by a small angle (e.g., 10°~30°), causing the forearm structure 62 to retract inward, thus making the arm assembly 6 as a whole... Figures 6 to 8 The state shown makes the overall space occupied by the arm component 6 relatively small.

[0099] By including a third shoulder joint module 73 in the shoulder assembly 7, the third shoulder joint module 73 not only drives the arm assembly 6 to perform relevant actions when the humanoid robot 100 is in working state, but also enables the humanoid robot 100 to switch between an extended state and a folded state. Alternatively, by utilizing the third shoulder joint module 73 of the humanoid robot 100 in related technologies to enable the arm assembly 6 to perform relevant actions, the humanoid robot 100 can switch between an extended state and a folded state. This achieves the function of switching between extended and folded states for the humanoid robot 100 with few or no additional parts.

[0100] In some embodiments, such as Figures 6 to 8As shown, in the folded state, the two arm components 6 are located on both sides of the torso component 1 in the first direction, and the angle between the upper arm structure 61 and the lower arm structure 62 is greater than or equal to 150° and less than or equal to 180°.

[0101] For example, in the folded state, the angle between the upper arm structure 61 and the lower arm structure 62 is 150°, 152°, 155°, 157°, 160°, 163°, 165°, 166°, 168°, 170°, 171°, 173°, 175°, 177°, 179° or 180°.

[0102] For example, such as Figure 8 As shown, in the folded state, the upper arm structure 61 of the arm assembly 6 gradually tilts backward in the direction from top to bottom, and the lower arm structure 62 is parallel to the vertical direction, so that the angle between the upper arm structure 61 and the lower arm structure 62 is greater than or equal to 150° and less than 180°.

[0103] By setting the humanoid robot 100 in a folded state such that the two arm components 6 are located on both sides of the torso component 1 in the first direction, and the angle between the upper arm structure 61 and the forearm structure 62 is greater than or equal to 150° and less than or equal to 180°, the two arm components 6 can make full use of the space on both sides of the torso component 1 and the lower side space of the shoulder component 7, further reducing the space occupied by the humanoid robot 100 in the folded state, further reducing the transportation and use costs of the humanoid robot 100, and expanding the application scenarios of the humanoid robot 100.

[0104] In some embodiments, in the folded state, the two arm assemblies 6 are located on both sides of the torso assembly 1 in a first direction, and the two leg assemblies 2 are located on both sides of the torso assembly 1 in the first direction. The two leg assemblies 2 are stacked with the two arm assemblies 6 in a third direction.

[0105] For example, such as Figures 6 to 8 As shown, in the folded state, the two arm assemblies 6 are located on the left and right sides of the torso assembly 1, respectively, and the two leg assemblies 2 are located on the left side of the torso assembly 1, respectively. The arm assembly 6 on the left side is stacked with the leg assembly 2 on the left side, and the arm assembly 6 on the right side is stacked with the leg assembly 2 on the right side.

[0106] For example, the left arm assembly 6 is located behind the left leg assembly 2, and the right arm assembly 6 is located behind the right leg assembly 2. Alternatively, the left arm assembly 6 is located in front of the left leg assembly 2, and the right arm assembly 6 is located in front of the right leg assembly 2.

[0107] By setting the humanoid robot 100 to be in a folded state with the two leg components 2 stacked with the two arm components 6 along a third direction, the space occupied by the humanoid robot 100 in the folded state can be further reduced, the transportation and use costs of the humanoid robot 100 can be further reduced, and the application scenarios of the humanoid robot 100 can be expanded.

[0108] In some embodiments, the orthographic projection of the thigh structure 21 along a third direction at least partially overlaps with the orthographic projection of the forearm structure 62 along a third direction.

[0109] For example, a portion of the orthographic projection of the thigh structure 21 in the front-back direction overlaps with a portion of the orthographic projection of the forearm structure 62 in the front-back direction.

[0110] It is understandable that the cross-sectional dimensions of the thigh structure 21 are usually larger, while the cross-sectional dimensions of the forearm structure 62 are usually smaller. The orthographic projection of the thigh structure 21 along the third direction overlaps with the orthographic projection of the forearm structure 62 along the third direction, which rarely or never increases the size of the humanoid robot 100 in the third direction. Furthermore, the space near the thigh structure 21 can be used to accommodate the forearm structure 62, further reducing the space occupied by the humanoid robot 100 in the folded state, further reducing the transportation and use costs of the humanoid robot 100, and expanding the application scenarios of the humanoid robot 100.

[0111] In some embodiments, the orthographic projection of the lower leg structure 22 along a third direction at least partially overlaps with the orthographic projection of the upper arm structure 61 along a third direction.

[0112] For example, a portion of the orthographic projection of the lower leg structure 22 along the front-back direction overlaps with a portion of the orthographic projection of the upper arm structure 61 along the front-back direction.

[0113] It is understandable that the cross-sectional dimensions of the upper arm structure 61 are usually large, while the cross-sectional dimensions of the lower leg structure 22 are not too large. The orthographic projection of the upper arm structure 61 along the third direction overlaps with the orthographic projection of the lower leg structure 22 along the third direction, which rarely or never increases the size of the humanoid robot 100 in the third direction. This further reduces the space occupied by the humanoid robot 100 in the folded state, further reduces the transportation and use costs of the humanoid robot 100, and expands the application scenarios of the humanoid robot 100.

[0114] In some embodiments, such as Figure 7 As shown, the torso assembly 1 has a handle 11 on its back, and a first reference plane m1 extends from the handle 11 away from the back, parallel to the first and second directions. In the folded state, the leg assembly 2 and arm assembly 6 are both located on the side of the first reference plane m1 near the chest of the torso assembly 1.

[0115] For example, the first reference plane m1 passes through the rear end of the handle 11 and is perpendicular to the front-back direction, that is, the first reference plane m1 is parallel to the left-right direction and the up-down direction. All parts of the humanoid robot 100 are located in front of the first reference plane m1, that is, the leg assembly 2 and the arm assembly 6 do not extend beyond the rear end of the handle 11.

[0116] For example, the torso assembly 1 includes a torso housing 12, with a handle 11 protruding rearward from the torso housing 12.

[0117] By positioning both the leg assembly 2 and the arm assembly 6 on the side of the first reference plane m1 near the chest of the torso assembly 1, it is possible to avoid the leg assembly 2 and the arm assembly 6 protruding backwards from the handle 11, thus avoiding the leg assembly 2 and the arm assembly 6 occupying additional space in the third direction other than the handle 11. This further reduces the space occupied by the humanoid robot 100 in the folded state, further reduces the transportation and use costs of the humanoid robot 100, and expands the application scenarios of the humanoid robot 100.

[0118] In some embodiments, in the folded state, the orthographic projection of the leg assembly 2 along the first direction at least partially overlaps with the orthographic projection of the torso assembly 1 along the first direction, and the orthographic projection of the arm assembly 6 along the first direction at least partially overlaps with the orthographic projection of the torso assembly 1 along the first direction.

[0119] For example, the orthographic projection of the leg assembly 2 in the left-right direction overlaps with the orthographic projection of the torso assembly 1 in the left-right direction, and the orthographic projection of the arm assembly 6 in the left-right direction overlaps with the orthographic projection of the torso assembly 1 in the left-right direction.

[0120] By setting the humanoid robot 100 in a folded state such that the orthographic projection of the leg assembly 2 along the first direction at least partially overlaps with the orthographic projection of the torso assembly 1 along the first direction, and the orthographic projection of the arm assembly 6 along the first direction at least partially overlaps with the orthographic projection of the torso assembly 1 along the first direction, the space on the left and right sides of the torso assembly 1 can be fully utilized to place the leg assembly 2 and the arm assembly 6, reducing the extra space occupied by the leg assembly 2 and the arm assembly 6 excluding the space on the left and right sides of the torso assembly 1, further reducing the space occupied by the humanoid robot 100 in the folded state, further reducing the transportation and use costs of the humanoid robot 100, and expanding the application scenarios of the humanoid robot 100.

[0121] For example, the arm assembly 6 and the leg assembly 2 are located on the same side in the left-right direction, with the leg assembly 2 located in front of the arm assembly 6. The front of the leg assembly 2 is positioned as close as possible to the chest of the torso assembly 1, and the rear of the arm assembly 6 does not exceed the rear end of the handle 11. This ensures that when the humanoid robot 100 is in a folded state, its front-back dimensions rarely exceed, and are as close as possible to, the front-back dimensions of the torso assembly 1.

[0122] For example, such as Figure 7 As shown, in the folded state, the foot structure 4 is located on the side of the leg assembly 2 away from the back of the torso assembly 1. The second reference plane m2 passes through the end of the foot structure 4 away from the back of the torso assembly 1 and is parallel to the first and second directions. In the folded state, both the leg assembly 2 and the arm assembly 6 are located on the side of the second reference plane m2 closer to the back of the torso assembly 1.

[0123] For example, the second reference plane m2 passes through the front end of the foot structure 4 and is perpendicular to the front-back direction, that is, the second reference plane m2 is parallel to the left-right and up-down directions. All parts of the humanoid robot 100 are located behind the second reference plane m2, that is, the leg assembly 2 and the arm assembly 6 will not extend forward beyond the rear end of the foot structure 4.

[0124] Of course, in other embodiments, the leg assembly 2 and the arm assembly 6 may both be located between the back and chest of the torso assembly 1, or the leg assembly 2 and the arm assembly 6 may be located on the back of the torso assembly 1, or the leg assembly 2 and the arm assembly 6 may be located on the chest of the torso assembly 1. Specifically, based on the relative positional relationship of the torso assembly 1, leg assembly 2, foot structure 4, arm assembly 6 and hand assembly 9 when the humanoid robot 100 is in a folded state, as well as the size of the torso assembly 1, leg assembly 2, foot structure 4, arm assembly 6 and hand assembly 9, etc., the design can be comprehensively considered so that the dimensions in the left-right direction and the up-down direction of the humanoid robot 100 are not too large when the humanoid robot 100 is in a folded state, thereby making the overall volume of the humanoid robot 100 smaller when it is in a folded state.

[0125] In some embodiments, such as Figure 8 As shown, the humanoid robot 100 also includes a head assembly 8, which is connected to the end of the torso assembly 1 away from the leg assembly 2. In the folded state, the leg assembly 2 and the arm assembly 6 are both located on the side of the third reference plane m3 near the torso assembly 1. The third reference plane m3 passes through the top of the head assembly 8 and is perpendicular to the second direction.

[0126] For example, the third reference plane m3 passes over the upper part of the head assembly 8 and is perpendicular to the vertical direction. All parts of the humanoid robot 100 are located below the third reference plane m3, that is, the leg assembly 2 and the arm assembly 6 do not extend upward beyond the upper part of the head assembly 8.

[0127] By setting the leg assembly 2 and arm assembly 6 to be located on the side of the third reference plane m3 closer to the torso assembly 1 when the humanoid robot 100 is in the folded state, the leg assembly 2 and arm assembly 6 will not increase the height of the humanoid robot 100 in the folded state, thereby further reducing the space occupied by the humanoid robot 100 in the folded state, further reducing the transportation and use costs of the humanoid robot 100, and expanding the application scenarios of the humanoid robot 100.

[0128] In some embodiments, the humanoid robot 100 further includes two hand components 9, which are respectively connected to two arm components 6. In the folded state, the distance between the bottom of the hip component 3 and the bottom of the hand components 9 is less than or equal to 3 cm.

[0129] For example, the bottom of the hand component 9 is located below the bottom of the hip component 3, and the distance between the bottom of the hip component 3 and the bottom of the hand component 9 in the vertical direction is a preset distance D, which is 0 cm, 0.5 cm, 0.7 cm, 1 cm, 1.2 cm, 1.5 cm, 1.8 cm, 2 cm, 2.3 cm, 2.5 cm, 2.8 cm or 3 cm.

[0130] By setting the distance between the bottom of the hip component 3 and the bottom of the hand component 9 when the humanoid robot 100 is in the folded state to be less than or equal to 3 cm, the arm component 6 is made to add little or no extra height to the humanoid robot 100 in the folded state, thereby further reducing the space occupied by the humanoid robot 100 in the folded state, further reducing the transportation and use costs of the humanoid robot 100, and expanding the application scenarios of the humanoid robot 100.

[0131] For example, the upper side of the foot structure 4 does not exceed the upper part of the head assembly 8, the lower side of the hand assembly 9 exceeds the lower end of the hip assembly 3, and the distance between the lower part of the hip assembly 3 and the lower part of the hand assembly 9 is less than or equal to 3 cm, so that when the humanoid robot 100 is in a folded state, the vertical dimension rarely exceeds, and as far as possible does not exceed, the sum of the heights of the torso assembly 1, the hip assembly 3 and the head assembly 8.

[0132] For example, such as Figure 8 As shown, in the folded state, the bottom of the hand assembly 9 is located on the side of the bottom of the hip assembly 3 away from the head assembly 8, and the fourth reference plane m4 passes through the end of the hand assembly 9 away from the head assembly 8 and is perpendicular to the second direction. In the folded state, both the leg assembly 2 and the arm assembly 6 are located on the side of the fourth reference plane m4 closer to the head assembly 8.

[0133] For example, the fourth reference plane m4 passes through the lower end of the hand assembly 9 and is perpendicular to the vertical direction. All parts of the humanoid robot 100 are located above the fourth reference plane m4, meaning that the leg assembly 2 and the arm assembly 6 will not extend downwards beyond the lower end of the hand assembly 9.

[0134] Of course, in other embodiments, the top of the foot structure 4 may also be located on the top of the head assembly 8 away from the torso assembly 1, and the bottom of the hip assembly 3 may also be located on the bottom of the hand assembly 9 away from the head assembly 8. Specifically, it can be designed comprehensively based on the height of the torso assembly 1, the height of the hip assembly 3, the length of the arm assembly 6, the length of the hand assembly 9, etc., so that the dimensions in the vertical direction are not too large when the humanoid robot 100 is in a folded state.

[0135] The distance between the bottom of the hip component 3 and the bottom of the hand component 9 can also be greater than 3cm. Specifically, it can be designed based on the height of the torso component 1, the height of the hip component 3, the height of the head component 8, the length of the arm component 6, and the length of the hand component 9, so that when the humanoid robot 100 is in a folded state, the dimensions in the left and right directions and the dimensions in the up and down directions are not too large, thereby making the overall volume of the humanoid robot 100 smaller when it is in a folded state.

[0136] In some embodiments, such as Figure 7 As shown, the arm assembly 6 is provided with at least one first avoidance recess 64 for avoiding the leg assembly 2.

[0137] For example, the front side of the upper arm structure 61 is provided with a first avoidance recess 64. In the folded state, the first avoidance recess 64 is used to avoid the lower leg structure 22, so as to avoid interference between the arm assembly 6 and the leg assembly 2.

[0138] By providing at least one first avoidance recess 64 in the arm assembly 6 to avoid the leg assembly 2, the distance between the arm assembly 6 and the leg assembly 2 is smaller or even closer when the humanoid robot 100 is in a folded state, further reducing the space occupied by the humanoid robot 100 in the folded state, further reducing the transportation and use costs of the humanoid robot 100, and expanding the application scenarios of the humanoid robot 100.

[0139] In some embodiments, the leg assembly 2 is provided with at least one second avoidance recess for avoiding the arm assembly 6.

[0140] For example, the inner side of the thigh structure 21 is provided with at least one second avoidance recess for avoiding the arm assembly 6.

[0141] By providing at least one second avoidance recess in the leg assembly 2 to avoid the arm assembly 6, the distance between the arm assembly 6 and the leg assembly 2 is smaller or even closer when the humanoid robot 100 is in a folded state, further reducing the space occupied by the humanoid robot 100 in the folded state, further reducing the transportation and use costs of the humanoid robot 100, and expanding the application scenarios of the humanoid robot 100.

[0142] In some embodiments, the humanoid robot 100 further includes a waist assembly 10, with two hip assemblies 3 connected to the torso assembly 1 via the waist assembly 10. The two hip assemblies 3 are located on either side of the waist assembly 10 in a first direction. The waist assembly 10 includes a first waist joint module 101 and a second waist joint module 102. The first waist joint module 101 is configured to drive the torso assembly 1 to rotate relative to the leg assembly 2 about an eleventh axis L11, and the second waist joint module 102 is configured to drive the torso assembly 1 to rotate relative to the leg assembly 2 about a twelfth axis L12.

[0143] For example, the eleventh axis L11 extends in the vertical direction, and the first waist joint module 101 is used to drive the torso component 1 to rotate left and right. The twelfth axis L12 extends in the front-back direction, and the second waist joint module 102 is used to drive the torso component 1 to tilt left and right.

[0144] For example, such as Figure 4 and Figure 9 As shown, the hip assembly 3 includes a hip housing 34, a second lumbar joint module 102, and two first hip joint modules 31, all disposed within the hip housing 34. The first lumbar joint module 101 is connected to the second lumbar joint module 102, and a portion of the first lumbar joint module 101 extends upward beyond the hip housing 34 so that the first lumbar joint module 101 can be connected to the torso assembly 1.

[0145] Figure 14 The diagram shown is a simplified structural diagram of a humanoid robot 100 in an extended state according to another embodiment of this application.

[0146] like Figure 14 As shown, the humanoid robot 100 in this embodiment differs from the humanoid robot 100 in the above embodiment in that the second axis L2 of the hip assembly 3 extends in the left-right direction and is parallel to the left-right direction.

[0147] The control methods for the humanoid robot 100 include: Controlling the movement of the hip component 3 causes the leg component 2 to extend relative to the torso component 1, with the leg component 2 positioned on one side of the torso component 1 in a second direction, thereby switching the humanoid robot 100 to an extended state. Controlling the movement of the hip component 3 causes the leg component 2 to fold relative to the torso component 1, with at least part of the two leg components 2 located on both sides of the torso component 1, and controlling the movement of the knee joint module 23 causes the angle between the thigh structure 21 and the lower leg structure 22 to be greater than 90°, thereby switching the humanoid robot 100 to the folded state.

[0148] The humanoid robot 100 of this application embodiment, by configuring the hip assembly 3 to drive the leg assembly 2 to extend and fold relative to the torso assembly 1, allows the humanoid robot 100 to switch between an extended state and a folded state. When the humanoid robot 100 is in the folded state, the leg assembly 2 is folded relative to the torso assembly 1, and the two leg assemblies 2 are at least partially located on both sides of the torso assembly 1 in the first direction. This not only reduces the height of the humanoid robot 100, but also makes full use of the space on both sides of the torso assembly 1 to accommodate the leg assembly 2, thus reducing the volume of the humanoid robot 100 in the folded state. Therefore, reducing the space occupied by the humanoid robot 100 in the folded state not only reduces the transportation and use costs of the humanoid robot 100, but also facilitates the humanoid robot 100's passage through narrow spaces, which is beneficial for expanding the application scenarios of the humanoid robot 100.

[0149] The following is for reference. Figures 1 to 14 This application describes in detail the control method for switching the humanoid robot 100 from an extended state to a folded state.

[0150] Control method of leg component 2: First, the first hip joint module 31 drives the leg component 2 to swing forward at a large angle (e.g., 150°~180°), so that the entire leg component 2 is raised to the chest of the torso component 1, and the two leg components 2 are located on the left and right sides of the torso component 1 respectively; Second, the second hip joint module 32 drives the leg component 2 to rotate outward at a large angle (e.g., 80°~100°), so that the toe part 41 of the foot structure 4 points outward (e.g., the toe part 41 of the right foot structure 4 points to the right); Subsequently, the third hip joint module 33 drives the leg component 2 to swing outward at a small angle (e.g., 20°). ~30°), causing the thigh structure 21 to open outward, and the knee joint module 23 drives the calf structure 22 to rotate relative to the thigh structure 21 around the first axis L1 by a small angle (e.g., 20°~40°), so that the calf structure 22 is closer to the chest of the torso component 1; then, the first ankle joint module 51 drives the foot structure 4 to retract inward, so that the toe part 41 is higher than the heel part 42. It can also control the second ankle joint module 52 to drive the foot structure 4 to rotate relative to the calf structure 22 around the sixth axis L6 as needed, so that the two sides of the foot structure 4 are at different heights in the width direction, thus completing the ultimate space compression of the leg component 2.

[0151] The control method of arm assembly 6 is as follows: First, the first shoulder joint module 71 drives the arm assembly 6 to swing backward by a small angle (e.g., 15°~25°), so that the upper arm structure 61 is close to the rear side of the torso assembly 1; second, the second shoulder joint module 72 drives the arm assembly 6 to rotate inward by a small angle (e.g., 5°~10°), and the third shoulder joint module 73 drives the arm assembly 6 to swing inward by a small angle (e.g., 5°~10°). At the same time, the elbow joint module 63 drives the forearm structure 62 to rotate relative to the upper arm structure 61 around the seventh axis L7 by a small angle (e.g., 10°~30°), so that the upper arm structure 61 and the forearm structure 62 are almost in contact with the folded leg assembly 2, thereby realizing the folding of the arm assembly 6 and the leg assembly 2.

[0152] The arm component 6 and the leg component 2 can be folded simultaneously; or the leg component 2 can be folded first, and the arm component 6 can be folded after the leg component 2 is folded; or the arm component 6 can be folded first, and the leg component 2 can be folded after the arm component 6 is folded.

[0153] The humanoid robot 100 of this application embodiment, through the design of the leg component 2 and arm component 6, enables the humanoid robot 100 to switch between an extended state and a folded state. In the folded state, the overall height of the humanoid robot 100 can be reduced by approximately 50%, while the front-to-back dimension increases by only approximately 30%, resulting in a compact, easily stored, roughly cubic shape. This fully leverages the multi-degree-of-freedom advantage of the humanoid robot 100, allowing it to be easily placed in a dedicated backpack or suitcase, significantly reducing logistics costs and warehousing pressure. It provides an innovative solution for the portable and rapid deployment of the humanoid robot 100 in home, office, and outdoor scenarios. By using a complementary interlocking design between the arm component 6 and the leg component 2 in the folded state, interference between the arm component 6 and the leg component 2 is avoided, achieving an extremely compact storage form with minimal increase in front-to-back dimension.

[0154] The humanoid robot 100, when folded, is significantly smaller, even halved in size, allowing it to easily fit into a backpack for "pick-up and go," greatly improving its mobility and deployment flexibility. This significantly reduces transportation and storage space, lowers logistics costs, eliminates the need for large custom supports, and facilitates bulk distribution. Its small size in the folded state also allows it to easily enter and exit narrow doorways, elevators, and low-ceilinged spaces, eliminating limitations on its physical dimensions and expanding its application scenarios.

[0155] The embodiments referred to in the specification, such as "an embodiment" or "an embodiment," may include specific features, structures, or characteristics, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Additionally, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0156] It should be understood that “on,” “above,” and “on top of” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on top of something” but also “on top of something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0157] Furthermore, for ease of explanation, spatial relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of a component or feature relative to other components or features as shown in the figures. Spatial relative terms are intended to encompass different orientations of components in use or operation other than those shown in the figures. Devices may have other orientations (rotated 90 degrees or in other orientations), and the spatial relative descriptive terms used herein may be interpreted accordingly.

[0158] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0159] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A humanoid robot, characterized in that, The humanoid robot, capable of switching between an extended and a folded state, includes: Torso components; Two leg components are spaced apart along a first direction, which is the left-right direction of the humanoid robot. Each leg component includes a thigh structure, a lower leg structure, and a knee joint module. The lower leg structure is connected to the thigh structure through the knee joint module. The knee joint module is configured to drive the lower leg structure to rotate relative to the thigh structure about a first axis. Two hip assemblies are connected to the torso assembly and spaced apart along the first direction. The two hip assemblies are respectively connected to the two leg assemblies. The hip assemblies are configured to drive the leg assemblies to extend and fold relative to the torso assembly. In the extended state, the leg assembly extends relative to the torso assembly, and the leg assembly is located on one side of the torso assembly in a second direction, which is the vertical direction of the humanoid robot; In the folded state, the leg assembly is folded relative to the torso assembly, and the two leg assemblies are at least partially located on both sides of the torso assembly in the first direction, with the angle between the thigh structure and the lower leg structure being greater than 90°.

2. The humanoid robot according to claim 1, characterized in that, Also includes: Two foot structures are respectively connected to the lower leg structures of the two leg components, and the foot structures include a heel and a toe. In the folded state, the first axis intersects the first direction, and the toe portion is located on one side of the heel portion in the first direction.

3. The humanoid robot according to claim 2, characterized in that, The hip assembly includes: A first hip joint module is configured to drive the leg assembly to rotate relative to the torso assembly about a second axis to extend and fold the leg assembly relative to the torso assembly, wherein the angle between the second axis and the first direction is less than 90°. A second hip joint module is connected to the first hip joint module. The second hip joint module is configured to drive the leg assembly to rotate relative to the torso assembly about a third axis so that, in the folded state, the first axis intersects the first direction and the third axis intersects the first axis.

4. The humanoid robot according to claim 3, characterized in that, The hip assembly also includes: A third hip joint module is connected to the first hip joint module and the second hip joint module. The third hip joint module is configured to drive the leg assembly to rotate relative to the torso assembly about a fourth axis so that, in the folded state, the leg assembly swings in the first direction. The fourth axis intersects both the second axis and the third axis.

5. The humanoid robot according to claim 2, characterized in that, It also includes two ankle components, each connected to one of the two foot structures, the ankle components comprising: The first ankle joint module is configured to drive the foot structure to rotate relative to the lower leg structure about a fifth axis so that, in the folded state, the toe and the heel are at different heights.

6. The humanoid robot according to claim 5, characterized in that, The ankle component also includes: The second ankle joint module is configured to drive the foot structure to rotate relative to the lower leg structure about a sixth axis, so that in the folded state, the two sides of the foot structure are at different heights in the width direction, and the sixth axis intersects the fifth axis.

7. The humanoid robot according to claim 1, characterized in that, In the folded state, the two leg components are located on both sides of the torso component in the first direction, and the angle between the thigh structure and the calf structure is greater than or equal to 150° and less than or equal to 180°.

8. The humanoid robot according to any one of claims 1-7, characterized in that, Also includes: Two arm components are spaced apart along the first direction; Two shoulder assemblies are spaced apart along the first direction. The two shoulder assemblies are respectively connected to the torso assembly on both sides of the torso assembly in the first direction. The two shoulder assemblies are respectively connected to the two arm assemblies. The shoulder assemblies are configured to drive the arm assemblies to move relative to the torso assembly. In the folded state, the two arm assemblies are at least partially located on either side of the torso assembly in the first direction.

9. The humanoid robot according to claim 8, characterized in that, The arm assembly includes an upper arm structure, a forearm structure, and an elbow joint module. The forearm structure is connected to the upper arm structure via the elbow joint module. The elbow joint module is configured to drive the forearm structure to rotate relative to the upper arm structure about a seventh axis. In the folded state, the angle between the upper arm structure and the lower arm structure is greater than 90°.

10. The humanoid robot according to claim 9, characterized in that, The shoulder assembly includes: The first shoulder joint module is configured to drive the arm assembly to rotate relative to the torso assembly about an eighth axis, so that the arm assembly swings relative to the torso assembly in a third direction, the third direction being the front-back direction of the humanoid robot; A second shoulder joint module is connected to the first shoulder joint module, and the second shoulder joint module is configured to drive the arm assembly to rotate relative to the torso assembly about a ninth axis.

11. The humanoid robot according to claim 10, characterized in that, The shoulder assembly also includes: A third shoulder joint module is connected to the first shoulder joint module and the third shoulder joint module. The third shoulder joint module is configured to drive the arm assembly to rotate relative to the torso assembly about a tenth axis so that, in the folded state, the arm assembly swings in the first direction. The tenth axis intersects both the eighth axis and the ninth axis.

12. The humanoid robot according to claim 9, characterized in that, In the folded state, the two arm assemblies are located on both sides of the torso assembly in the first direction, and the angle between the upper arm structure and the lower arm structure is greater than or equal to 150° and less than or equal to 180°.

13. The humanoid robot according to claim 9, characterized in that, In the folded state, the two arm assemblies are located on both sides of the torso assembly in the first direction, and the two leg assemblies are located on both sides of the torso assembly in the first direction. The two leg assemblies are stacked with the two arm assemblies along a third direction, which is the front-back direction of the humanoid robot.

14. The humanoid robot according to claim 13, characterized in that, In the folded state, the orthographic projection of the thigh structure along the third direction at least partially overlaps with the orthographic projection of the forearm structure along the third direction; And / or, In the folded state, the orthographic projection of the lower leg structure along the third direction at least partially overlaps with the orthographic projection of the upper arm structure along the third direction.

15. The humanoid robot according to claim 13, characterized in that, The arm assembly is provided with at least one first avoidance recess for avoiding the leg assembly; and / or, The leg assembly is provided with at least one second avoidance recess for avoiding the arm assembly.

16. The humanoid robot according to claim 8, characterized in that, In the folded state, the orthographic projection of the leg assembly along the first direction at least partially overlaps with the orthographic projection of the torso assembly along the first direction, and the orthographic projection of the arm assembly along the first direction at least partially overlaps with the orthographic projection of the torso assembly along the first direction.

17. A control method for a humanoid robot, characterized in that, The control method, applied to a humanoid robot as described in any one of claims 1 to 16, comprises: Controlling the movement of the hip assembly causes the leg assembly to extend relative to the torso assembly, with the leg assembly positioned to one side of the torso assembly in a second direction, thereby switching the humanoid robot to the extended state; The hip assembly is controlled to fold relative to the torso assembly, with at least a portion of the two leg assemblies located on either side of the torso assembly. The knee joint module is also controlled to move such that the angle between the thigh structure and the lower leg structure is greater than 90°, thereby switching the humanoid robot to the folded state.

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