Lower limb assembly and humanoid robot

Abstract

The lower limb assembly comprises a trunk connecting seat and at least one lower limb, and the lower limb comprises a hip joint, a thigh component, a knee joint, a shank component, an ankle joint, a sole component, a hip joint damper and a knee joint damper; the hip joint is arranged on the trunk connecting base and connected with one end of the thigh component, the other end of the thigh component is rotationally connected with one end of the shank component, the sole component is located at the other end of the shank component and rotationally connected with the shank component, the knee joint is arranged on the thigh component and connected with the shank component, and the ankle joint is arranged on the shank component and connected with the sole component. The hip joint damper is connected between the thigh component and the hip joint and used for sharing the load borne by the hip joint; the knee joint damper is connected between the shank component and the thigh component and used for sharing the load borne by the knee joint. The lower limb assembly can reduce electric energy consumption caused by stalling, improve the energy utilization rate, effectively reduce the loss of the motor and prolong the service life of equipment.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, and in particular to a lower limb assembly and a humanoid robot. Background Technology

[0002] In recent years, with the rapid advancement of artificial intelligence, sensing and mechanical manufacturing technologies, humanoid robots have made significant breakthroughs in their development. They are able to complete tasks in complex and ever-changing environments and are expected to be widely used in industrial production, logistics warehousing, home services and other fields.

[0003] In the existing humanoid robot movement modes, the joint actuators of the lower limbs are given a dual task: to cope with the impact loads passively generated by the robot due to the external environment or its own movements during movement, to achieve force balance in order to maintain the stability and controllability of the robot's body posture, and to meet the power requirements during active movement.

[0004] When faced with passive impacts or under heavy loads, actuators in the lower limbs, such as rotary joints, typically output torque by stalling. For example, when a humanoid robot performs a static squatting motion under heavy load, the lower limb joint actuators resist the load and achieve force balance by stalling. However, this method has many drawbacks. On the one hand, maintaining force balance requires electrical energy, resulting in low energy efficiency. On the other hand, prolonged stalling causes significant wear and tear on the motors, severely impacting their lifespan and increasing the robot's maintenance costs and replacement frequency. Utility Model Content

[0005] The main objective of this invention is to propose a lower limb assembly that optimizes the performance of the lower limb joints of a humanoid robot, improves energy utilization, extends the service life of the device, and enhances the overall flexibility and adaptability of the humanoid robot.

[0006] To achieve the above objectives, this utility model proposes a lower limb assembly, which includes a trunk connector and at least one lower limb, wherein the lower limb includes a hip joint, a thigh component, a knee joint, a calf component, an ankle joint, a foot component, a hip joint damper, and a knee joint damper.

[0007] The hip joint is located on the trunk connector and connected to one end of the thigh member, the other end of the thigh member is rotatably connected to one end of the lower leg member, the foot member is located at the other end of the lower leg member and is rotatably connected to the lower leg member, the knee joint is located on the thigh member and connected to the lower leg member, and the ankle joint is located on the lower leg member and connected to the foot member.

[0008] The hip joint damper is connected between the thigh component and the hip joint to distribute the load borne by the hip joint; the knee joint damper is connected between the lower leg component and the thigh component to distribute the load borne by the knee joint.

[0009] In some embodiments, the hip joint includes a first joint seat, a second joint seat, a first motor, a second motor, and a third motor;

[0010] The first motor is located on the first joint seat and connected to the thigh component; the second motor is located on the second joint seat and connected to the first joint seat; the second joint seat is rotatably connected to the torso connecting seat; the third motor is located on the torso connecting seat and connected to the second joint seat; the axes of the output ends of any two of the first motor, the second motor and the third motor are perpendicular to each other.

[0011] The hip joint damper is connected to the hip joint by connecting to the first joint seat.

[0012] In some embodiments, the hip joint damper has a first body and a first piston rod that is telescopic relative to the first body, the first body being hinged to the thigh member and the first piston rod being hinged to the first joint seat.

[0013] In some embodiments, the knee joint includes a fourth motor and a first transmission assembly, the fourth motor being disposed on the thigh component and being transmittedly connected to the lower leg component via the first transmission assembly.

[0014] In some embodiments, the lower leg member is configured with a receiving cavity and an opening communicating with the receiving cavity;

[0015] The knee joint damper is housed in the receiving cavity. The knee joint damper has a second body and a second piston rod that is telescopic relative to the second body. The second body is hinged to the lower leg member, and the second piston rod is connected to the thigh member from the cavity opening via a linkage assembly.

[0016] In some embodiments, the linkage component includes a first linkage rod and a second linkage rod;

[0017] One end of the first linkage rod extends into the cavity and is hinged to the lower leg component. The other end of the first linkage rod is hinged to one end of the second linkage rod, and the other end of the second linkage rod is hinged to the thigh component. The second piston rod of the knee joint damper is hinged to the first linkage rod.

[0018] In some embodiments, the ankle joint includes a fifth motor and a second transmission assembly, the fifth motor being disposed on the lower leg component and being transmittedly connected to the foot component via the second transmission assembly.

[0019] In some embodiments, the number of lower limbs is two, and the two lower limbs are located on opposite sides of the torso connector.

[0020] In some embodiments, the torso connector is provided with a sixth motor, which is located between the two lower limbs, and the output end of the sixth motor is used to connect to the torso.

[0021] This utility model also proposes a humanoid robot, which includes a torso and a lower limb assembly as described above, wherein the torso connector is connected to the torso.

[0022] In the joint design of the lower limb assembly of this utility model, dampers are respectively installed at the hip and knee joints. Specifically, the hip joint damper is connected between the thigh component and the hip joint, and the knee joint damper is connected between the lower leg component and the thigh component. This effectively distributes the force balance task of the hip and knee joints under passive impact or heavy load conditions. When the humanoid robot encounters an impact or is under heavy load, the dampers can absorb and buffer part of the impact force using their own characteristics, reducing the need for the joint actuators to rely solely on stalling to resist the load. Compared to the traditional method of actuators dealing with impact loads alone, this design significantly reduces the energy consumption caused by stalling, improves energy utilization, effectively reduces motor wear, extends equipment life, and helps improve the overall flexibility and adaptability of the humanoid robot. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the lower limb assembly in one embodiment of the present invention;

[0024] Figure 2 for Figure 1 A schematic diagram of a portion of the lower limb assembly in the embodiment, viewed from one angle.

[0025] Figure 3 for Figure 1 A schematic diagram of a portion of the lower limb assembly from another perspective in the embodiment;

[0026] Figure 4 for Figure 1 A schematic diagram of a portion of the lower limb assembly in the embodiment;

[0027] Figure 5 for Figure 1 An exploded view of a portion of the lower limb assembly in the embodiment. Detailed Implementation

[0028] The solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0029] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0030] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0031] Furthermore, the use of terms such as "first" and "second" in this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0032] This utility model embodiment proposes a lower limb assembly, referring to... Figure 1 The lower limb assembly includes a trunk connector 1 and at least one lower limb 2. The lower limb 2 includes a hip joint 21, a thigh component 22, a knee joint 23, a calf component 24, an ankle joint 25, a foot component 26, a hip joint damper 27, and a knee joint damper 28.

[0033] The hip joint 21 is located on the trunk connecting seat 1 and connected to one end of the thigh member 22. The other end of the thigh member 22 is rotatably connected to one end of the lower leg member 24. The foot member 26 is located at the other end of the lower leg member 24 and is rotatably connected to the lower leg member 24. The knee joint 23 is located on the thigh member 22 and connected to the lower leg member 24. The ankle joint 25 is located on the lower leg member 24 and connected to the foot member 26.

[0034] The hip joint damper 27 is connected between the thigh component 22 and the hip joint 21 to share the load borne by the hip joint 21; the knee joint damper 28 is connected between the lower leg component 24 and the thigh component 22 to share the load borne by the knee joint 23.

[0035] The lower limb assembly involved in this embodiment can be a robotic lower limb of a humanoid robot, or a lower limb device that can be worn by a user for rehabilitation assistance; there is no limitation in this regard. When the lower limb assembly is used in a humanoid robot, the torso connector 1 serves as the connection structure between the lower limb assembly and the torso or other upper structure of the humanoid robot. The torso connector 1 is made of high-strength aluminum alloy, ensuring sufficient strength while reducing overall weight, which is beneficial for the flexible movement of the humanoid robot.

[0036] The number of lower limbs 2 can be one or more, or two if there are multiple lower limbs 2. Each lower limb 2 consists of a hip joint 21, a thigh component 22, a knee joint 23, a lower leg component 24, an ankle joint 25, a foot component 26, a hip joint damper 27, and a knee joint damper 28. The hip joint 21 is mounted on the torso connector 1 and connected to one end (the upper end) of the thigh component 22. The hip joint 21 has an appropriate range of rotation to simulate the natural movement of the human hip joint 21. Meanwhile, the other end (the lower end) of the thigh component 22 is rotatably connected to one end (the upper end) of the lower leg component 24. The length and shape of the thigh component 22 can be designed according to ergonomic principles to ensure smooth and comfortable movement. The knee joint 23 is located in the middle or near the lower end of the thigh component 22 and is connected to the lower leg component 24. The knee joint 23 is also designed with an appropriate range of rotation to simulate the flexion and extension movements of the human knee joint 23. The other end (i.e. the lower end) of the lower leg component 24 is connected to the foot component 26. Accordingly, the length and shape of the lower leg component 24 can be designed according to ergonomic principles to form a coordinated movement relationship with the thigh component 22.

[0037] Ankle joint 25 is located near the lower end of lower leg component 24 and connects to foot component 26. The design of ankle joint 25 allows foot component 26 to rotate and tilt within a certain range relative to lower leg component 24, simulating the flexible movement of human ankle joint 25. Foot component 26 is located at the lowest end of lower limb assembly and is in direct contact with the ground or other contact surfaces. The shape and material of foot component 26 can be optimized to ensure good support and grip.

[0038] To effectively distribute the load borne by the joints, this embodiment also includes a hip joint damper 27 and a knee joint damper 28. The hip joint damper 27 is connected between the thigh component 22 and the hip joint 21, while the knee joint damper 28 is connected between the lower leg component 24 and the thigh component 22. The hip joint damper 27 can be a hydraulic damper or a pneumatic damper, and the type of damper can be selected according to actual needs. Similarly, the knee joint damper 28 can be a hydraulic damper or a pneumatic damper, and the type of damper can be selected according to actual needs.

[0039] The assembly process for the lower limb assembly can be as follows:

[0040] First, install the hip joint damper 27 between the thigh component 22 and the hip joint 21, ensuring a tight connection and correct working direction of the damper to effectively distribute the load on the hip joint 21. Next, install the knee joint damper 28, connecting it between the lower leg component 24 and the thigh component 22, ensuring a secure installation and good damping effect. Then, install the hip joint 21 onto the torso connector 1 and connect it to the thigh component 22; install the knee joint 23 onto the thigh component 22 and connect it to the lower leg component 24; finally, install the ankle joint 25 onto the lower leg component 24 and connect it to the foot component 26, completing the assembly of the entire lower limb 2.

[0041] Specifically, the damping coefficients of the hip joint damper 27 and the knee joint damper 28 are precisely set according to the expected usage scenarios and load requirements of the humanoid robot. For example, in industrial production scenarios, where the robot is expected to carry heavy objects, the damping coefficient can be appropriately increased to better distribute the joint load; in home service scenarios, where the robot mainly performs light-load activities, the damping coefficient can be appropriately decreased to improve the flexibility of movement.

[0042] When the humanoid robot is in a normal motion state, such as walking, the hip joint 21 and knee joint 23 drive the thigh component 22 and lower leg component 24 to perform active movements under the drive of electrical components. At this time, the hip joint damper 27 and knee joint damper 28 are in a relatively low resistance state, allowing the joints to rotate freely, providing only a certain basic damping to ensure the smoothness of the movement, without affecting the normal power output of the motor, enabling the humanoid robot to flexibly complete various actions.

[0043] When a humanoid robot encounters an external impact or is under heavy load, such as when squatting to lift heavy objects, the lower limb joints 2 will experience significant pressure. At this time, the hip joint damper 27 and knee joint damper 28 respond quickly, increasing the damping force to actively share the load borne by the hip joint 21 and knee joint 23. Through the buffering effect of the dampers, the force on the joint actuators is reduced, preventing them from stalling due to excessive force to maintain force balance. In this way, the joint actuators only need to provide the power required to maintain movement and posture adjustment, while most of the impact and gravitational loads are borne by the dampers.

[0044] Compared to the traditional method of using actuators to cope with impact loads alone, the structural design of the hip joint damper 27 and knee joint damper 28 of this invention significantly improves energy utilization efficiency, reduces power consumption caused by stalling, increases energy utilization rate, effectively reduces motor wear, extends equipment lifespan, and enhances the overall flexibility and adaptability of the humanoid robot.

[0045] In some embodiments, refer to Figure 2 and Figure 3 The hip joint 21 includes a first joint seat 211, a second joint seat 212, a first motor 213, a second motor 214, and a third motor 215;

[0046] The first motor 213 is located on the first joint seat 211 and connected to the thigh component 22; the second motor 214 is located on the second joint seat 212 and connected to the first joint seat 211; the second joint seat 212 is rotatably connected to the torso connecting seat 1; and the third motor 215 is located on the torso connecting seat 1 and connected to the second joint seat 212. The axes of the output ends of any two of the first motor 213, the second motor 214 and the third motor 215 are perpendicular to each other.

[0047] The hip joint damper 27 is connected to the hip joint 21 by connecting to the first joint seat 211.

[0048] In this embodiment, the multi-motor and joint seat design enables the hip joint 21 to move flexibly in multiple directions, simulating the complex movement patterns of the human hip joint 21. Specifically, the first motor 213 can be a pitch-axis motor, with its rotation axis parallel to the left-right direction of the lower limb assembly; the second motor 214 can be a roll-axis motor, with its rotation axis parallel to the up-down direction of the lower limb assembly; and the third motor 215 can be a yaw-axis motor, with its rotation axis parallel to the front-back direction of the lower limb assembly. When the lower limb assembly moves and the hip joint 21 bears a load, the hip joint damper 27 functions accordingly. Because the hip joint damper 27 is connected to the thigh and simultaneously to the first joint seat 211, the load on the hip joint 21 causes changes in the relative position and angle between the thigh component 22 and the first joint seat 211. These changes stretch or compress the hip joint damper 27. The hip joint damper 27 automatically adjusts its damping characteristics according to the load changes, generating a corresponding damping force.

[0049] In some embodiments, refer to Figure 3 and Figure 4 The hip joint damper 27 has a first body 271 and a first piston rod 272 that can extend and retract relative to the first body 271. The first body 271 is hinged to the thigh component 22, and the first piston rod 272 is hinged to the first joint seat 211. When the hip joint 21 is subjected to an impact load, the first piston rod 272 will extend and retract relative to the first body 271 to absorb part of the energy and share the load of the hip joint 21 that was originally borne solely by the motor.

[0050] In some embodiments, refer to Figures 2 to 5 The knee joint 23 includes a fourth motor 231 and a first transmission assembly 232. The fourth motor 231 is located on the thigh component 22 and is connected to the lower leg component 24 via the first transmission assembly 232. This structural design enables the lower leg component 24 to rotate flexibly relative to the thigh component 22, simulating the movement of the human knee joint. When the lower limb assembly moves, the fourth motor 231 located on the thigh component 22 can start to operate to output rotational power, which is transmitted to the lower leg component 24 through the first transmission assembly 232, thereby driving the lower leg component 24 to rotate, so as to realize actions such as bending of the lower limb 2. The first transmission assembly 232 can be a crank-connecting rod assembly, including but not limited to this, and can be set according to actual needs.

[0051] In some embodiments, refer to Figure 3 The lower leg component 24 is constructed with a receiving cavity 24Q and an opening communicating with the receiving cavity 24Q;

[0052] The knee joint damper 28 is housed in the receiving cavity 24Q. The knee joint damper 28 has a second body 281 and a second piston rod 282 that can extend and retract relative to the second body 281. The second body 281 is hinged to the lower leg member 24, and the second piston rod 282 is connected to the thigh member 22 from the cavity opening through the linkage assembly 29.

[0053] In this embodiment, a cavity 24Q is constructed on the lower leg component 24 to accommodate the knee joint damper 28, making the overall structure of the lower limb assembly more compact. This compact structural design facilitates the operation of the lower limb assembly in a confined space, reduces the overall weight and volume of the lower limb assembly, and improves its mobility. The second body 281 of the knee joint damper 28 is hinged to the lower leg component 24, thus having a certain degree of rotational freedom and being able to flexibly adapt to the movement changes of the lower leg component 24. Furthermore, the second piston rod 282 of the knee joint damper 28 is connected to the thigh component 22 through a linkage assembly 29, which transmits force between the knee joint damper 28 and the thigh component 22. The linkage assembly 29 may include multiple linkage rods, which are sequentially hinged to each other. One end of the linkage assembly 29 is hinged to the second piston rod 282 of the knee joint damper 28, and the other end is hinged to the thigh component 22, forming a stable and movable linkage structure. When the lower limb assembly moves, the lower leg component 24 will move accordingly. Since the second body 281 of the knee joint damper 28 is hinged to the lower leg component 24, it closely follows the movement trajectory of the lower leg component 24. At the same time, the thigh component 22 and the lower leg component 24 undergo relative motion changes, causing the linkage component 29 to deform accordingly. This deformation transmits force to the second piston rod 282 of the knee joint damper 28, causing the second piston rod 282 to extend and retract relative to the second body 281.

[0054] In some embodiments, refer to Figure 3 and Figure 5 The linkage component 29 includes a first linkage rod 291 and a second linkage rod 292;

[0055] One end of the first linkage rod 291 extends into the cavity and is hinged to the lower leg component 24. The other end of the first linkage rod 291 is hinged to one end of the second linkage rod 292. The other end of the second linkage rod 292 is hinged to the thigh component 22. The second piston rod 282 of the knee joint damper 28 is hinged to the first linkage rod 291.

[0056] In this embodiment, when the lower limb assembly moves, the lower leg component 24 performs a corresponding action. Taking walking as an example, the lower leg component 24 performs flexion and extension movements around the knee joint 23. Since the first linkage rod 291 is hinged to the lower leg component 24, the movement of the lower leg component 24 will drive the first linkage rod 291 to rotate around the hinge point. At the same time, the rotation of the first linkage rod 291 will drive the second linkage rod 292 to rotate, which in turn drives the second piston rod 282 of the knee joint damper 28 to extend and retract relative to the second body 281.

[0057] In some embodiments, refer to Figure 3 and Figure 5 The ankle joint 25 includes a fifth motor 251 and a second transmission assembly 252. The fifth motor 251 is located on the lower leg component 24 and is connected to the foot component 26 via the second transmission assembly 252. This structural design enables the foot component 26 to rotate flexibly, equivalent to the lower leg component 24, simulating the movement of the human ankle joint 25. When the lower limb assembly moves, the fifth motor 251 located on the lower leg component 24 can start operating to output rotational power, which is transmitted to the foot component 26 via the second transmission assembly 252, thereby driving the foot component 26 to rotate to achieve actions such as lifting the foot. The second transmission assembly 252 can be a crank-connecting rod assembly, but is not limited to this, and can be set according to actual needs.

[0058] In some embodiments, refer to Figure 1 The robot has two lower limbs 2, which are located on opposite sides of the torso connector 1. In this embodiment, the two lower limbs 2 are arranged symmetrically, which conforms to the structural characteristics of the human lower limb assembly and helps the humanoid robot maintain balance.

[0059] In some embodiments, refer to Figure 1 The torso connector 1 is equipped with a sixth motor 3, which is located between the two lower limbs 2. The output end of the sixth motor 3 is used to connect to the torso. That is, when the torso connector 1 is used to connect to the torso, it is connected to the torso through the output end of the sixth motor 3. The output end of the sixth motor 3 is vertically upward. When the output end of the sixth motor 3 rotates to output power, it can drive the torso to rotate, so that the humanoid robot can rotate to face multiple different directions while the lower limbs 2 remain stationary, such as turning to face the left, right, or rear of the body, thus enabling flexible work.

[0060] This utility model embodiment also proposes a humanoid robot, which includes a torso and a lower limb assembly as described in the foregoing embodiments, with a torso connector 1 connected to the torso. The specific structure of the lower limb assembly is as described in the foregoing embodiments. Since this humanoid robot adopts all the technical solutions of all the foregoing embodiments, it has at least all the technical effects brought about by the technical solutions of the foregoing embodiments, and will not be described in detail here.

[0061] The above description is only a part or preferred embodiment of this utility model. Neither the text nor the drawings should limit the scope of protection of this utility model. All equivalent structural transformations made using the content of this utility model specification and drawings under the overall concept of this utility model, or direct / indirect applications in other related technical fields, are included within the scope of protection of this utility model.

Claims

1. A lower limb assembly, characterized in that, It includes a trunk connector and at least one lower limb, the lower limb including a hip joint, a thigh component, a knee joint, a calf component, an ankle joint, a foot component, a hip joint damper, and a knee joint damper; The hip joint is located on the trunk connector and connected to one end of the thigh member, the other end of the thigh member is rotatably connected to one end of the lower leg member, the foot member is located at the other end of the lower leg member and is rotatably connected to the lower leg member, the knee joint is located on the thigh member and connected to the lower leg member, and the ankle joint is located on the lower leg member and connected to the foot member. The hip joint damper is connected between the thigh component and the hip joint to distribute the load borne by the hip joint. The knee joint damper is connected between the lower leg component and the thigh component to distribute the load borne by the knee joint.

2. The lower limb assembly according to claim 1, characterized in that, The hip joint includes a first joint seat, a second joint seat, a first motor, a second motor, and a third motor; The first motor is located on the first joint seat and connected to the thigh component; the second motor is located on the second joint seat and connected to the first joint seat; the second joint seat is rotatably connected to the torso connecting seat; the third motor is located on the torso connecting seat and connected to the second joint seat; the axes of the output ends of any two of the first motor, the second motor and the third motor are perpendicular to each other. The hip joint damper is connected to the hip joint by connecting to the first joint seat.

3. The lower limb assembly according to claim 2, characterized in that, The hip joint damper has a first body and a first piston rod that is telescopic relative to the first body, the first body being hinged to the thigh member and the first piston rod being hinged to the first joint seat.

4. The lower limb assembly according to claim 1, characterized in that, The knee joint includes a fourth motor and a first transmission assembly. The fourth motor is located on the thigh component and is connected to the lower leg component via the first transmission assembly.

5. The lower limb assembly according to claim 1, characterized in that, The lower leg component has a receiving cavity and an opening communicating with the receiving cavity; The knee joint damper is housed in the receiving cavity. The knee joint damper has a second body and a second piston rod that is telescopic relative to the second body. The second body is hinged to the lower leg member, and the second piston rod is connected to the thigh member from the cavity opening via a linkage assembly.

6. The lower limb assembly according to claim 5, characterized in that, The linkage component includes a first linkage rod and a second linkage rod; One end of the first linkage rod extends into the cavity and is hinged to the lower leg component. The other end of the first linkage rod is hinged to one end of the second linkage rod, and the other end of the second linkage rod is hinged to the thigh component. The second piston rod of the knee joint damper is hinged to the first linkage rod.

7. The lower limb assembly according to claim 1, characterized in that, The ankle joint includes a fifth motor and a second transmission assembly. The fifth motor is located on the lower leg component and is connected to the foot component via the second transmission assembly.

8. The lower limb assembly according to claim 1, characterized in that, The number of lower limbs is two, and the two lower limbs are located on opposite sides of the torso connector.

9. The lower limb assembly according to claim 8, characterized in that, The torso connector is equipped with a sixth motor, which is located between the two lower limbs, and the output end of the sixth motor is used to connect to the torso.

10. A humanoid robot, characterized in that, Includes a torso and a lower limb assembly as described in any one of claims 1 to 9, wherein the torso connector is connected to the torso.

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