2410 results about "Ankle" patented technology

A humanoid robot leg that may include a shank, an ankle that includes an ankle joint that is configured to perform yaw and pitch rotations, a knee joint, multiple ankle related (AR) rotational motors that are in mechanical communication, via multiple AR transmission mechanisms, with the ankle joint, and a knee related (KR) rotational motor that is in mechanical communication, via a KR transmission mechanism, with the knee joint. The multiple AR rotational motors and the KR rotational motor are positioned above the knee joint.

The invention discloses a compact humanoid robot leg structure and a robot, and belongs to the technical field of humanoid robots. In order to solve the problems that an existing humanoid robot leg is complex and redundant in structure, low in structure and form bionic degree and the like, the humanoid robot leg which is small in size, modularized, simple and compact in structure and high in structure bionic degree is provided, and the manufacturing difficulty, cost, size and total structure weight of the robot leg are reduced. The leg structure comprises a hip joint module, a thigh module, a knee joint module, a shank module and an ankle-sole module which are sequentially connected, and three-degree-of-freedom movement of a bionic hip joint, three-degree-of-freedom movement of a knee joint and two-degree-of-freedom movement of an ankle joint can be achieved. The method can be used for humanoid robots and biped robots.

The invention discloses a foot drop assisting method based on a flexible ankle joint exoskeleton, and belongs to the field of rehabilitation medical assistance. According to the method, an unhealthy side ankle joint angle is input into a self-adaptive oscillator to learn related parameters in the self-adaptive oscillator, and an affected side ankle joint angle is predicted; meanwhile, a CNP model is adopted to predict the ankle joint angle of the shank on the affected side according to the gait phase estimated by the self-adaptive oscillator, two prediction results of the ankle joint angle of the shank on the affected side are subjected to weighted fusion to finally obtain the expected angle of the ankle joint on the affected side, and the fused ankle joint angle prediction output is more stable and continuous. And a weighted fusion result is smoothed. According to the method, the normal walking mode based on the unhealthy side ankle joint angle of the patient can be dynamically learned online in real time, and personalized affected side ankle joint angle reference tracks at each moment are generated for different patients, so that the abnormal motion mode of the patient is inhibited, and the patient is guided to reach the normal gait in the rehabilitation training process.

The invention belongs to the technical field of signal processing, and particularly relates to a lower limb motion intention recognition method and system based on electromyographic signals. The method comprises the following steps: S1, arranging electromyographic sensors on a hip key muscle group, a knee joint key muscle group and an ankle joint key muscle group in sequence, and collecting electromyographic signals; s2, performing time-frequency-space domain feature fusion and dimension reduction processing on the electromyographic signals acquired at the hip key muscle group and the knee joint key muscle group, and performing corresponding motion intention prediction by using a dynamic weight distribution method and a decoder based on an LSTM-attention mechanism; electromyographic signals collected at key muscle groups of ankle joints are processed through a muscle force distribution matrix, and meanwhile a time-varying weight adjustment strategy and impedance control are adopted for corresponding motion intention prediction; s3, according to the predicted motion intention, the system controls a direct-current brushless motor on rehabilitation training equipment, a fuzzy self-adaptive PID control method is adopted to regulate and control joint motion, and a walking posture is simulated.

The humanoid robot comprises a trunk assembly, a thigh assembly, a shank assembly and a foot assembly, the trunk assembly and the thigh assembly are rotatably connected through a hip joint assembly, and the thigh assembly and the shank assembly are rotatably connected through a knee joint assembly. The shank assembly is rotatably connected with the foot assembly through the ankle joint assembly, the thigh assembly and the shank assembly respectively comprise a thigh skeleton and a shank skeleton, and when the thigh skeleton and the shank skeleton are straightened, the pitching rotation axis of the hip joint assembly and the pitching rotation axis of the knee joint assembly are not on the same vertical plane; the pitching rotation axis of the knee joint assembly and the pitching rotation axis of the ankle joint assembly are located on the same vertical plane, it is guaranteed that the transmission angle between the thigh assembly and the shank assembly of the robot is not 0 degree, the degree of freedom in the vertical direction cannot be lost, straight-leg standing and straight-leg starting of the robot are achieved, and the robot is closer to a real person in shape.

The invention relates to the technical field of motion detection, in particular to an old people falling early warning system based on motion trail analysis, which comprises a gravity center identification module, a trend identification module, an inertia pushing module, a phase judgment module and a grade response module. According to the method, the vertical coordinates of the key points of the waist and the two feet in the image frame are acquired, and the height difference change is continuously tracked, so that the potential falling initial state can be identified from the static posture, the vector included angles among the three groups of bone points of the hip knee, the knee ankle and the shoulder pelvis are subjected to sequence analysis, and whether synchronous disintegration occurs in the coordination action is identified; the identified trend sequence is mapped according to the risk level, a differential response mechanism is applied, a high-density corresponding relation is constructed between the behavior trend and the alarm level, graded response and time sequence triggering of the falling risk are achieved, the accurate identification capability of the falling precursor action is enhanced, the sensitivity and discrimination of the alarm response are also improved, and the safety of the falling risk is improved. And misjudgment and missed judgment are effectively avoided.

The invention discloses an intelligent training method for preventing lower limb thrombus and a related device, and the method comprises the steps: inputting the physiological parameters of a patient, the initial exercise ability evaluation information and the personalized rehabilitation target information into a DQN multi-mode fusion model, and generating an ankle pump exercise training scheme meeting the rehabilitation demands of the patient; monitoring ankle pump motion execution information of the patient in real time through wearable equipment; according to the ankle pump motion training scheme and the ankle pump motion execution information of the patient, a lower limb thrombus training effect evaluation result of the patient is calculated, and the lower limb thrombus training effect evaluation result comprises the blood circulation improvement degree, the joint motion range and the gait characteristics; according to a lower limb thrombus training effect evaluation result of the patient, predicting lower limb thrombus potential recovery disorder and a falling risk level of the patient, and starting a grading alarm program according to the potential recovery disorder and the falling risk level. The training effect is comprehensively evaluated through the multi-modal data fusion training method, and the lower limb thrombus rehabilitation efficiency is improved.

The invention provides a robot motion control method and device, electronic equipment and a storage medium. The motion control method is used for controlling a shank assembly of the robot, the shank assembly comprises a driving joint and an ankle joint, the driving joint drives the ankle joint to move, and the motion control method comprises the steps that target posture information of the ankle joint and target torque of the ankle joint are obtained; on the basis of the target attitude information of the ankle joint and the target torque of the ankle joint, determining expected attitude information of a driving joint and expected torque of the driving joint; acquiring current attitude information of the driving joint; based on the expected torque of the driving joint, the expected attitude information of the driving joint and the current attitude information of the driving joint, the control torque of the driving joint is determined; and driving joints are controlled to move based on the control torque. By means of the method, universal control over the parallel ankle structure is achieved, and the performance and stability of the robot adopting the parallel ankle structure are ensured.

The invention is applicable to the technical field of robots, and provides a method, a device, equipment and a product for determining poses of parallel ankle joints of a robot. The pose determination method for the parallel ankle joints of the robot comprises the steps that actual encoder position data of a motor are obtained, and the motor is used for controlling the parallel ankle joints to move; obtaining a Jacobian matrix, wherein the Jacobian matrix is used for establishing a mapping relation between the tail end posture of the parallel ankle joint and encoder position data of a motor; and determining a target attitude of the parallel ankle joint according to the actual encoder position data and the Jacobian matrix. According to the embodiment of the invention, the posture of the parallel ankle joint can be solved, so that motion control on the robot is facilitated.

The invention relates to the technical field of robots, and discloses a humanoid robot lower limb system, comprising: a crotch portion comprising a rope-driven motor; the thighs are installed at the two ends of the crotch respectively and can rotate along a pitch axis and a roll axis; the shanks are installed at the lower ends of the two thighs respectively, a knee joint motor is installed on the upper portion of each thigh, and the shanks are driven to rotate relative to the thighs through the knee joint motors and the synchronous belts; the ankles are mounted at the lower ends of the two shanks respectively; the rope drive motor drives the shank opposite to the ankle to rotate through the steel wire rope. The synchronous belt has the characteristics of high transmission precision and strong anti-interference capability in a non-severe environment, the rope drive has the characteristic of high sensitivity, and all motors are intensively arranged at the uppermost end of the leg structure, so that the center of gravity is concentrated on the upper part, the inertia of leg movement is reduced, and the movement control is facilitated. Meanwhile, the principle that the left leg and the right leg are designed into blocks is adopted, so that the left leg and the right leg can rotate independently, and walking in multiple terrains is facilitated.

The biped robot comprises a main body connecting part and leg parts arranged on the two sides of the main body connecting part, and each leg part comprises a thigh part, a shank part, a sole assembly and a connecting rod assembly used for connection which are sequentially connected; the thigh part comprises a thigh rotating joint, a thigh lifting linear joint, a shank bending linear joint and a thigh supporting plate, the thigh lifting linear joint and the shank bending linear joint are linear actuators and are oppositely arranged, and the two ends of the thigh lifting linear joint and the two ends of the shank bending linear joint are rotationally installed; the shank part comprises an ankle linear joint and a shank supporting plate, the upper end of the ankle linear joint is rotatably connected with the shank supporting plate, and the lower end of the ankle linear joint is connected with the sole assembly. The method has the beneficial effects that the load capacity of the biped robot is improved, and the requirements of the biped robot for large load, high response speed and high precision can be met.

Footwear components apply heat, cooling, and / or pressure to a wearer's foot / leg / ankle. Such footwear includes one or more of: (a) an interior upper layer formed from one or more interior upper component parts; (b) an exterior upper layer formed from one or more exterior upper component parts and engaged with the interior upper layer, wherein the interior and exterior upper layers define an ankle-receiving chamber of the footwear upper; (c) a fluid-filled bladder system including a first fluid chamber located between the interior and exterior upper layers; (d) a heating and / or cooling system having at least a portion engaged with the first fluid chamber; (e) a fluid source component (e.g., pump, compressor, etc.) in fluid communication with the first fluid chamber and configured to supply fluid to the first fluid chamber; (f) a power source; and / or (g) a securing system for releasably securing the footwear upper to a wearer's foot / leg / ankle.

The invention relates to a guiding type improved neural network ankle joint fracture classification method, system and device, and belongs to the field of computer-aided medical image processing.The classification method comprises the steps that S1, database images are collected and enhanced; s2, training a segmentation network model by using the segmentation data marked with the fibula region; s3, inputting the fracture type classification data into the trained segmentation network model, predicting a fibula area, and taking a prediction result as guidance to act on the improved neural network classification model; s4, inputting the fracture type classification data into the improved neural network classification model guided by the prediction result for training; and S5, verifying a classification result by using a test set, and evaluating the model by using a statistical index. The ankle joint fracture type can be judged, the method has the advantages of being high in diagnosis accuracy, high in speed and the like, and the problem that a traditional deep learning method is prone to being interfered by other information in images in the medical field to make misjudgment is effectively solved.

The invention relates to a humanoid robot foot based on a human arch, and aims to solve the problems that a foot structure of a biped humanoid robot is insufficient in the aspects of stability, rigidity, flexibility, energy efficiency, diversity, ergonomics and the like. The five toes, the first metal vertical plate and the second metal vertical plate are fixed to the sole metal plate, the hallux toe sleeve is sleeved on the toes and connected with the toes through the first elastic metal driving rod, and the final toe sleeve is sleeved on the toes and connected with the toes through the second elastic metal driving rod. A first C-shaped connecting rod connected with a first elastic metal driving rod and a second elastic metal driving rod is inserted into the front portion of an ankle connecting block, the bottom of the ankle connecting block is connected with a heel metal plate through a plurality of spring columns, and a second C-shaped connecting rod is inserted into the rear portion of the ankle connecting block. And the second C-shaped connecting rod is fixed with the heel metal plate through the heel elastic metal driving rod. According to the scheme, the shoe sole has better adaptability and balance.

The invention relates to the technical field of robots, and discloses an electro-hydraulic hybrid driving and driven humanoid robot lower limb and waist assembly which serves as a connection foundation of lower limbs and a robot trunk. The near ends of the thigh assemblies are connected with the waist assembly through hip joints; the near end of the shank assembly is connected with the far end of the thigh assembly through a knee joint; the foot component is connected with the far end of the shank component through an ankle joint; the hip joint is provided with three rotational degrees of freedom, the knee joint is provided with one rotational degree of freedom, and the ankle joint is provided with two rotational degrees of freedom; the rotational degree of freedom of each joint in a sagittal plane is driven by an active hydraulic actuator and a passive hydraulic actuator; the rotational degree of freedom of each joint in a horizontal plane and a coronal plane is driven by a motor joint module; the advantages of electric drive and hydraulic drive are brought into full play, and the problems of high power consumption in the negative work stage, complex traditional hydraulic drive pipelines and the like are solved by adopting an active and passive combined distributed hydraulic drive technology.

Some embodiments of a rotational atherectomy device can remove (partially or completely) stenotic lesions in blood vessels by rotating one or more abrasive elements in an orbital path to abrade and breakdown the lesion. In particular implementations, multiple abrasive elements are arranged along a distal portion of a drive shaft with an improved configuration so as to facilitate both efficient navigation into smaller blood vessels below the ankle or in the heart and effective orbital paths for abrading stenotic material in such smaller vessels.

The invention relates to the technical field of humanoid robots, in particular to a humanoid robot humanoid sole and shank assembly which comprises a sole assembly, a shank assembly and a thigh assembly. The sole assembly comprises a sole, an inertial measurement unit mounted on the sole, a force sensor mounted above an arch of the sole and an adapter plate mounted on the force sensor; the shank assembly comprises a shank, a cross-shaped bearing, an ankle joint support and an ankle joint driving module, the ankle joint support is movably connected to the bottom of the shank through the cross-shaped bearing, the ankle joint support is fixedly installed on the top of the sole assembly, and the ankle joint driving module is installed on the shank and used for driving the ankle joint support to swing along double shafts of the cross-shaped bearing; the thigh assembly comprises a thigh and a knee joint driving module, and the thigh is rotationally connected to the top of the shank through the knee joint driving module. The performance of the humanoid robot in the aspects of movement flexibility, stability, load bearing capacity and complex ground adaptability is remarkably improved.

The invention relates to the field of medical instruments, and discloses a patient ankle self-rehabilitation device which comprises a rear shell, the front side of the rear shell is connected with a front shell through an assembling mechanism, a massage mechanism and a pressing mechanism are arranged on the lower middle portion of the rear end of the rear shell, and an inflation mechanism is arranged on the inner bottom wall of the rear shell. An angle adjusting mechanism is arranged on the inflation mechanism, a temperature adjusting mechanism is arranged in the rear shell, and a plurality of vent grooves are formed in the front shell. Through the massage mechanism, the pressing mechanism, the inflation mechanism, the angle adjusting mechanism and the temperature adjusting mechanism, ankles can be subjected to ice compress and fixation in the initial stage, blood vessels can be expanded in the rehabilitation stage, blood flow of injured parts can be increased, more nutrient substances are provided for tissue repair, muscle tension is relieved, and the recovery rate is increased. Corresponding operation is performed on recovery of ankles in different periods, the whole structure is light and convenient, different requirements of patients can be met, and the patients are helped to be healed faster.

The invention relates to a humanoid robot leg structure which comprises thighs, knee joints, shanks, ankle joints and shanks. The thigh part comprises a first joint module motor and a second joint module motor; the knee joint comprises a first pull rod, a second pull rod and a connecting seat; the first joint module motor is connected with the connecting seat through the first pull rod; the shank part comprises a shank pull rod and a third joint module motor; the second joint module motor is connected with the foot through a second pull rod and a shank pull rod; the third joint module motor is connected with the foot through a shank pull rod; the foot part comprises a front support and a rear support which are connected through a foot support rotating shaft. Compared with the prior art, the humanoid robot has the advantages that the second joint module motor and the third joint module motor are located on the thigh portion and the shank portion respectively, symmetrical arrangement is not needed, module motors with larger size and torque can be arranged, and the motion ability of the humanoid robot is enhanced; the foot part comprises a front support and a rear support, and can adapt to different terrains.

The invention discloses an orthopedic ankle joint trauma recovery exercise device in the technical field of medical apparatus and instruments, comprising a base, a support rod fixedly connected to the top of the base, an adjusting assembly fixedly connected to the bottom wall of the base, movement grooves symmetrically formed in the base, movement assemblies fixedly connected in the movement grooves, tibia fixing assemblies symmetrically hinged to the support rod, and tibia fixing assemblies symmetrically hinged to the tibia fixing assemblies. The top end of the supporting rod is further fixedly connected with a controller, and the adjusting assembly, the movement assembly and the tibia fixing assembly are all in signal connection with the controller. According to the device, the requirement of three-dimensional composite rehabilitation exercise of the ankle joint of a patient is met by constructing a multi-degree-of-freedom platform, the ankle joint force application and fatigue threshold value of the patient are calculated and predicted in combination with multi-source data, real-time following of force application of the patient by resistance is achieved, efficient rehabilitation exercise is achieved, and the rehabilitation effect is improved. Buffering is actively released according to the magnetorheological fluid damping principle after the ankles of the patient reach the movement angle threshold value, the burden of movement inertia on the ankle joints of the patient is reduced, and secondary ankle sprain injuries possibly caused by rehabilitation movement are avoided.

The invention discloses a line drive type biped robot leg structure which comprises a thigh support, a knee joint motor is arranged at the lower end of the thigh support, a shank support is connected to an output shaft of the knee joint motor, a foot assembly is movably connected to the lower end of the shank support and comprises a foot fixing piece, and a heel is connected to the rear portion of the foot fixing piece. The heel is connected with a line driving structure, the line driving structure comprises a first ankle joint motor, a second ankle joint motor, a first driving line wheel, a second driving line wheel, a first ankle joint line wheel and a second ankle joint line wheel, and a first transmission line is arranged between the first driving line wheel and the first ankle joint line wheel; a second transmission line is arranged between the second driving line wheel and the second ankle joint line wheel, a first crank swing rod structure is arranged between the first ankle joint line wheel and one side of the heel, and a second crank swing rod structure is arranged between the second ankle joint line wheel and the other side of the heel. The device has the advantages of being simple in structure and good in adaptability.

The invention is suitable for the technical field of medical instruments, and provides a pneumatic global self-adaptive ankle-foot artificial limb which comprises a rear sole and a front sole which are connected through a front and rear foot connecting piece. The pressure response assemblies are located at the bottoms of the rear sole and the front sole, and pressure changes after bearing; and the ankle self-adaption assembly is connected with the pressure response assembly through a valve communication assembly and drives the ankle to do eversion, centering and introversion motions based on pressure changes. According to the embodiment of the invention, an ankle joint inward and outward turning automatic adjusting mechanism directly driven by plantar pressure change can enable the artificial limb to adapt to complex terrains such as uneven road surfaces and lateral slopes in real time, an inward and outward turning motion mode of a physiological ankle joint in the walking process is simulated, and the gait of a user is smoother and more natural; the pure pneumatic control structure is relatively simple and light, and an external power supply pressure driving pump or a complex sensor is not needed.

The utility model discloses an inside and outside splayed tendon stretching foot machine mechanism, which comprises a massage seat and a massage assembly arranged on the massage seat, the massage assembly comprises a rotating shaft, a massage wheel arranged on the rotating shaft and a first driving piece for driving the rotating shaft to rotate, and the massage seat comprises a mounting frame, a first torsion swing frame and a second torsion swing frame. The rotating shaft is arranged on the mounting frame and penetrates through the first torsional pendulum frame and the second torsional pendulum frame, a first eccentric part used for driving the first torsional pendulum frame to perform torsional pendulum and a second eccentric part used for driving the second torsional pendulum frame to perform torsional pendulum are arranged on the rotating shaft, and the guiding structure is used for limiting and guiding when the first torsional pendulum frame and the second torsional pendulum frame swing. When the massage assembly works, the whole massage seat can be driven to twist, so that the ankle joint can be subjected to swinging and stretching massage, and meanwhile, the calf muscle can be subjected to stretching massage.

The invention provides a skiing posture correction method and device, and relates to the technical field of skiing teaching, and the method comprises the steps: synchronously collecting plantar pressure distribution characteristic data and ankle joint inclination data of a skier; when the plantar pressure distribution data and / or the ankle inclination data meet the preset unbalance judgment condition, an unbalance adjusting signal is triggered; the imbalance adjustment signal includes at least one of a haptic alert signal related to a severity of the imbalance, a dynamic visual signal including a pressure distribution characteristic, and a sound indication signal having a joint angle quantitative indicator. According to the invention, the skiing posture of the skier can be intelligently and accurately corrected, and the correction efficiency of the skiing posture is improved.

The invention relates to a humanoid robot leg structure and sole assembly based on rope driving, which comprises a hip assembly, a thigh assembly, a shank assembly and a sole assembly, the joint of the hip assembly and the thigh assembly is a hip joint, the joint of the thigh assembly and the shank assembly is a knee joint, and the joint of the shank assembly and the sole assembly is an ankle joint. A first driving source is arranged on the upper side of a hip joint and used for driving the hip to roll, a second driving source and a third driving source are arranged on the left side and the right side of the hip joint respectively and used for driving the hip to pitch and yaw, and a fourth driving source and a fifth driving source are arranged on the left side and the right side of the upper portion of a thigh assembly respectively and used for driving the hip to roll. The fourth driving source is used for driving the knee joint to move, the fifth driving source is used for driving the ankle to do pitching motion, and the sixth driving source is arranged at the joint of the shank assembly and the sole assembly and used for driving the ankle to do rolling motion. The dynamic performance of the whole robot can be improved.

The auxiliary equipment for the orthopedic arthroscopic surgery comprises a bed body (1), and a backrest mechanism (2) is arranged at the bed head of the bed body (1); a track frame (3) is arranged on the bed edge of the bed body (1), a movable support (4) is arranged in the track frame (3), one end of the movable support (4) extends to the position above the bed body (1), and an ankle fixator (5) is arranged at the end of the movable support (4). A knee joint regulator (6) is arranged on the bed body (1) and corresponds to the ankle fixer (5); and the knee joint regulator (6) comprises a vertical frame (7) arranged on the bed body (1). The bending degree of the knee joint of a patient can be adjusted according to the actual condition of the patient, so that a slim tube which can be better inserted into an arthroscope is conveniently inserted.

The present invention discloses a cross-double-joint rigid powered lower limb exoskeleton, comprising a waist support and two groups of lower limb supports respectively arranged on both lateral sides of the waist support for assisting the lower limbs on the corresponding sides of the human body; the lower limb support comprises a hip joint connection component, a thigh protector, a plantar support and an electric push rod used as an actuator module, wherein: the thigh protector is connected to the waist support through the hip joint connection component to adapt to the multi-degree-of-freedom movement of the human hip joint; the telescopic direction of the electric push rod is arranged along the length direction of the human calf, and the telescopic end of the electric push rod extends upward and then crosses the human knee joint and is hinged to the rear of the thigh protector, and the fixed end of the electric push rod extends downward and then crosses the human ankle joint and is hinged to the rear of the plantar support; the exoskeleton has the advantages of better ensuring the comfort of the wearer and enhancing the gain effect of the exoskeleton on the human body, and can achieve a better effect of both lightweight and performance.

The invention discloses a lower limb exoskeleton control system and method based on phase recognition and model prediction control. The system comprises a kinematics modeling module, a gait database module, a data processing and feature extraction module, a gait phase recognition module, a dynamics modeling module, a model prediction controller and an actuator control unit. By recognizing the gait phase and dynamically adjusting and controlling the target, precise assistance of the natural gait of the wearer is achieved. The system calculates the trajectory of the ankle joint relative to the hip joint in real time based on a kinematic model, and constructs a database in combination with gait data collected under multiple working conditions to provide an expected trajectory and reference parameters for control. In the dynamic modeling process, motor driving torque and man-machine interaction torque are introduced, a system dynamic model is established in a unified mode, and control characteristics under different gait phases are reflected.

The invention relates to the technical field of robots, and discloses an electro-hydraulic hybrid drive active and passive humanoid robot which is characterized in that a head assembly adopts pure electric drive configuration, and three-degree-of-freedom rotation of a neck is realized through driving of a parallel-series hybrid mechanism; the upper limb assembly is purely electrically driven and comprises a two-degree-of-freedom waist joint driven by a differential parallel transmission mechanism and a seven-degree-of-freedom mechanical arm driven by a near-end motor through a spherical parallel mechanism, a four-bar mechanism and the differential parallel transmission mechanism; the lower limb assembly adopts mixed configuration of active and passive hydraulic main drive and motor auxiliary drive, the single leg has six degrees of freedom, sagittal plane degrees of freedom of hip joints, knee joints and ankle joints are driven by active and passive hydraulic actuators, and other degrees of freedom are driven by a motor joint module; high-dynamic, high-outbreak, high-energy-efficiency, large-load and impact-resistant operation of the upper limbs is achieved while high-dynamic, large-load, high-rigidity and high-precision operation of the upper limbs is guaranteed, and the movement, operation and cruising ability of the whole machine is remarkably improved.

A bipedal robot having five degree of freedom leg assemblies is disclosed. The example leg assemblies each have a hip joint; a thigh link assembly rotatably coupled to the hip joint; and a knee joint coupled to the thigh link assembly. A calf link assembly is rotatably coupled to the knee joint. An ankle joint is coupled to the calf link assembly. A set of actuators is configured to control movement of the leg assembly. At least some of the actuators are positioned near the hip joint to concentrate mass of the leg assembly proximate to the hip joint. A transmission system is configured to transmit force from at least one of the actuators to either the knee joint or the ankle joint of the leg assembly.