CN106741285B - Biped is semi-passive to dividing upper body walking robot - Google Patents
Biped is semi-passive to dividing upper body walking robot Download PDFInfo
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- CN106741285B CN106741285B CN201710025056.6A CN201710025056A CN106741285B CN 106741285 B CN106741285 B CN 106741285B CN 201710025056 A CN201710025056 A CN 201710025056A CN 106741285 B CN106741285 B CN 106741285B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention discloses a kind of biped it is semi-passive to upper body walking robot, including hip and two legs portion is divided, hip includes hip bracket and sideshake part, and sideshake part rotatable engagement is mounted on hip bracket, hip bracket is equipped with and swings driving mechanism；Two sideshake parts are respectively arranged below with revolving part, and revolving part is equipped with first rotating shaft and corresponding sideshake part rotatable engagement, and leg opening driving mechanism is equipped between hip bracket and revolving part；Leg includes thigh, shank and quasi- pedal plate, and revolving part is equipped with the second shaft, and the upper end of thigh is equipped with rotatable engagement and is sleeved on the thigh connector in the second shaft, and revolving part is equipped with swing driving mechanism；Shank and thigh are articulated and connected, and knee joint driving mechanism is equipped between thigh and shank；Quasi- pedal plate is mounted on the bottom of shank by ankle-joint shaft rotatable engagement, and ankle-joint shaft is parallel with the second shaft, intends being equipped with ankle-joint driving mechanism between pedal plate and hip or leg.
Description
Technical field
The present invention relates to a kind of walking instruments, specifically semi-passive to dividing upper body walking robot for a kind of biped.
Background technique
Currently, most of robots are by driving in real time, in the form of imitating the mankind and walk, so leading to machine in the world
People's walking is made slowly, and energy consumption exceeds ten times of people.This seriously constrains the continuation of the journey, operation, load-carrying ability of robot.Passively
The it is proposed for principle of walking provides a possible solution route to realize that efficient natural is walked.
Passive dynamic locomopion is a kind of method for studying biped (two legs) pedestrian system, this system include the mankind or its
His biped or you want the bipod walking robot for making or controlling.Passive dynamic locomopion is the one kind for treating double feet walking
Mode.It keeps balance as a consistent efforts with it, contacts not as good as biped walking is regarded as one in foot
Lasting passive tumble under the intermittent interference once of variation, we can have one to it and better understand.It then can be by a string
Steady and sustained step is regarded periodic motion as and is analyzed.
The it is proposed of passive walking principle provides a possible solution route, passive walking to realize that efficient natural is walked
System is to only rely on gravity to come passively each joint of rotary machine people, is walked there are many outstanding based on passive dynamic (dynamical) biped
Robot is devised, the robot Leo including Dutch Delft university；The robot MABEL of Univ Michigan-Ann Arbor USA
；Robot Runbot of University of Stirling, Britain etc..
The Chinese patent application of Publication No. CN 105730551A discloses a kind of semi-passive biped to a point upper body walking dress
It sets, the Chinese patent application of Publication No. CN104512493A discloses a kind of gear drive and fills to point upper body energy conservation passive walking
It sets and its control method is to be realized using gear drive, deposited although being all made of the walking structure " to a point upper body "
The problem of structure is complicated, and the stability in walking is a great problem for needing to overcome.
Summary of the invention
In view of this, that the purpose of the present invention is to provide a kind of bipeds is semi-passive to upper body walking robot is divided, can begin
Keep upper body to point eventually, to improve walking stability.
In order to achieve the above objectives, the invention provides the following technical scheme:
A kind of biped is semi-passive to dividing upper body walking robot, including hip and two legs portion, the hip include hip
Bracket and the sideshake part being separately positioned below hip bracket left and right ends, the sideshake part rotatable engagement peace
On the hip bracket, and the pivot center of the sideshake part is parallel with the back-and-forth motion direction of robot, described
Hip bracket, which is equipped with, rotates around it axis for respectively driving two sideshake parts with opposite rotation direction synchronous rotary
The driving mechanism that swings swung；Two sideshake parts are respectively arranged below with revolving part, set on the revolving part
There are first rotating shaft and the corresponding sideshake part rotatable engagement, the rotation axis of the first rotating shaft and the sideshake part
Line is vertical, and is equipped between the hip bracket and the revolving part for driving the revolving part to rotate around the first rotating shaft
And then two legs portion is driven to open driving mechanism with the leg of the synchronous twisting of opposite rotation direction；
The leg includes thigh, shank and quasi- pedal plate, and the revolving part is equipped with the second shaft, second shaft point
Not vertical with the pivot center of the first rotating shaft and the sideshake part, the upper end of the thigh is set with equipped with rotatable engagement
Thigh connector in second shaft, and the revolving part is equipped with for driving the thigh around second shaft
The swing driving mechanism of rotation；The shank and the thigh are articulated and connected, and are equipped with and are used between the thigh and shank
The shank is driven to do the knee joint driving mechanism of bending unbending movement relative to thigh；The quasi- pedal plate passes through ankle-joint shaft
Rotatable engagement is mounted on the bottom of the shank, and the ankle-joint shaft is parallel with second shaft, the quasi- pedal plate with
The ankle-joint driving mechanism for driving the quasi- pedal plate to rotate relative to the shank is equipped between the hip or leg.
Further, the driving mechanism that swings includes the passive swing drag-line being arranged on the sideshake part
Wheel, the passive axis for swinging drawing cable pulley is conllinear with the pivot center of the sideshake part, and sets on the hip bracket
There is an oscillating motor, the output shaft of the oscillating motor is equipped with active roll drawing cable pulley, the active roll drawing cable pulley and two
Swing drag-line is respectively equipped between the passive swing drawing cable pulley.
Further, it includes being arranged in the first rotating shaft and the quilt of synchronous rotation that driving mechanism is opened in the leg
Dynamic to open drawing cable pulley, the hip bracket, which is equipped with, opens motor, and the output shaft for opening motor is equipped with actively to open and draw
Cable pulley, described actively open are equipped with opening drag-line between drawing cable pulley and the passive opening drawing cable pulley.
Further, the swing driving mechanism include be arranged on the thigh connector and with second shaft
Coaxial passive walking drawing cable pulley, the passive walking drawing cable pulley and the thigh connector rotate synchronously, on the revolving part
Equipped with movable motor, the output shaft of the movable motor is equipped with drawing cable pulley of actively walking, drawing cable pulley and the institute of actively walking
It states and is equipped with walking drag-line between passive walking drawing cable pulley.
Further, the knee joint driving mechanism includes being arranged in second shaft and the knee joint with synchronous rotation
Active drawing cable pulley, the upper end of the shank are equipped with the knee joint shaft with the thigh rotatable engagement, the knee joint shaft with
Second shaft is parallel, and the knee joint shaft is equipped with the passive drawing cable pulley of knee joint of synchronous rotation, the knee
Knee joint drag-line is equipped between joint active drawing cable pulley and the passive drawing cable pulley of knee joint, the hip bracket is equipped with and described the
The knee joint motor of two rotating shaft transmissions connection.
Further, the ankle-joint driving mechanism includes being separately mounted to the forefoot of the quasi- pedal plate rear and front end with after
Sole corresponds on the hip bracket with the quasi- pedal plate and is equipped with ankle-joint motor, the output shaft of the ankle-joint motor
It is equipped with ankle-joint active drawing cable pulley, is respectively equipped with drag-line hole, the ankle-joint active drag-line on the forefoot and hind paw
It takes turns and is equipped with ankle-joint drag-line between the forefoot and hind paw on the quasi- pedal plate corresponding with being arranged in.
Further, the axle sleeve for being installed with synchronous rotation, the both ends difference of the axle sleeve are covered in the ankle-joint shaft
Equipped with coaxial loop bar, the loop bar is vertical with the ankle-joint shaft, is respectively equipped between the loop bar and the quasi- pedal plate
Foot support, and foot support rotatable engagement is sleeved on the loop bar, the loop bar is equipped with encoder.
The beneficial effects of the present invention are:
Biped of the invention is semi-passive to upper body walking robot is divided, by the way that the driving mechanism that swings, Neng Goutong is arranged
Sideshake of overdriving part swings, and is rotated synchronously by two sideshake parts of control with opposite rotation direction, and then controllable
Two legs portion processed is closed towards swinging opening opposite to each other or swinging in opposite directions respectively, i.e., when thigh opens closed movement, robot upper body pair
Point；Driving mechanism is opened by setting leg, can drive leg with opposite rotation direction around the synchronous twisting of first rotating shaft, and then drive
Dynamic two legs portion opens or is closed respectively, and keeps robot upper body to dividing；By the way that swing driving mechanism, Neng Goufen is arranged
Not Qu Dong two thighs swing forward or backward, with realize front and back walk technical purpose；By the way that knee joint driving mechanism is arranged,
The motion of knee joint in two legs portion can be driven, and then the relatively corresponding thigh of the shank for respectively driving two legs portion does bending and stretches
Straight movement realizes rhaeboscelia and lifts the technical purpose of leg；By be arranged ankle-joint driving mechanism, can adjust respectively quasi- pedal plate with it is small
Angle between leg is walked in the earth's surface of differing tilt angles with realizing.
In summary, biped of the invention is semi-passive can remain point upper body walking robot in the process of walking
Upper body can ensure the stability in walking process to point, pass through setting knee joint driving mechanism and ankle-joint driving mechanism
The flexibility in walking process is kept, and is respectively driven using multiple motors, structure is more succinct reliable, by each motor
Control, it is convenient to realize the control of walking.
Detailed description of the invention
In order to keep the purpose of the present invention, technical scheme and beneficial effects clearer, the present invention provides following attached drawing and carries out
Illustrate:
Fig. 1 is that biped of the present invention is semi-passive to the structural schematic diagram for dividing upper body walking robot embodiment；
Fig. 2 is the left view of Fig. 1；
Fig. 3 is the top view of Fig. 1；
Fig. 4 is the bottom view of Fig. 1；
Fig. 5 is the rearview of Fig. 1；
Fig. 6 is the axonometric drawing of Fig. 1；
Fig. 7 is the A detail drawing of Fig. 6.
Description of symbols: 1- hip bracket；2- sideshake part；3- passively swings drawing cable pulley；4- oscillating motor；5- master
Movable pendulum moves drawing cable pulley；6- revolving part；7- first rotating shaft；8- passively opens drawing cable pulley；9- opens motor；10- actively opens drag-line
Wheel；11- thigh；12- shank；13- intends pedal plate；The second shaft of 14-；15- thigh connector；16- passive walking drawing cable pulley；17-
Movable motor；18- actively walks drawing cable pulley；19- knee joint active drawing cable pulley；20- knee joint shaft；21- knee joint is passively drawn
Cable pulley；22- knee joint motor；23- ankle-joint shaft；24- forefoot；25- hind paw；26- ankle-joint motor；27- ankle-joint
Active drawing cable pulley；28- drag-line hole；29- encoder；30- loop bar；The support of 31- foot.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, so that those skilled in the art can be with
It better understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
As shown in Figure 1, semi-passive to the structural schematic diagram for dividing upper body walking robot embodiment for biped of the present invention.This reality
The biped for applying example is semi-passive to a point upper body walking robot, including hip and two legs portion, and hip includes hip bracket 1 and difference
Sideshake part 2 below 1 left and right ends of hip bracket is set, and 2 rotatable engagement of sideshake part is mounted on hip bracket 1
On, and the pivot center of sideshake part 2 is parallel with the back-and-forth motion direction of robot, hip bracket 1 is equipped with for distinguishing
Two sideshake parts 2 are driven to rotate around it the driving mechanism that swings that axis is swung with opposite rotation direction synchronous rotary.This
The driving mechanism that swings of embodiment includes the passive swing drawing cable pulley 3 being arranged on sideshake part 2, passively swings drag-line
The axis of wheel 3 is conllinear with the pivot center of sideshake part 2, and hip bracket 1 is equipped with oscillating motor 4, oscillating motor 4 it is defeated
Shaft is equipped with active roll drawing cable pulley 5, and active roll drawing cable pulley 5 and two passive swing are respectively equipped with pendulum between drawing cable pulley 4
Dynamic drag-line, is driven by oscillating motor 4 and swings cable movement, it is same towards opposite rotation direction can to respectively drive two sideshake parts 2
Step rotation, and then drive two legs portion towards opposite rotation direction synchronous hunting, with keep robot upper body to point.
Two sideshake parts 2 are respectively arranged below with revolving part 6, and revolving part 6 is equipped with first rotating shaft 7 and corresponding side
To 2 rotatable engagement of swing component, first rotating shaft 7 is vertical with the pivot center of sideshake part 2, and hip bracket 1 and revolving part 6 it
Between be equipped with for driving revolving part 6 to rotate around first rotating shaft 7 and then driving two legs portion with the leg of the synchronous twisting of opposite rotation direction
Open driving mechanism in portion.It includes being arranged in first rotating shaft 7 and synchronous rotation that driving mechanism is opened in the leg of the present embodiment
Passive opening drawing cable pulley 8, hip bracket 1 be equipped with open motor 9, open motor 9 output shaft be equipped with actively open draw
Cable pulley 10, actively opens drawing cable pulley 10 and passive open is equipped with opening drag-line between drawing cable pulley 8.It is opened using the driving of motor 9 is opened
Cable movement is opened, two revolving parts 6 can be respectively driven around first rotating shaft 7 with opposite rotation direction synchronous rotary, and then drive two
Leg is around first rotating shaft 7 with opposite rotation direction synchronous rotary.
Leg includes thigh 11, shank 12 and quasi- pedal plate 13, and revolving part 6 is equipped with the second shaft 14, and the second shaft 14 is divided
Not vertical with the pivot center of first rotating shaft 7 and sideshake part 2, the upper end of thigh 11 is equipped with rotatable engagement and is sleeved on second turn
Thigh connector 15 on axis 14, and revolving part 6 is equipped with the swing for driving thigh 11 to rotate around the second shaft 14
Driving mechanism.The swing driving mechanism of the present embodiment includes that setting is on thigh connector 15 and coaxial with the second shaft 14
Passive walking drawing cable pulley 16, passive walking drawing cable pulley 16 and thigh connector 15 rotate synchronously, and revolving part 6 is equipped with walking electricity
The output shaft of machine 17, movable motor 17 is equipped with drawing cable pulley 18 of actively walking, actively walk drawing cable pulley 18 and passive walking drag-line
Walking drag-line is equipped between wheel 16.Also rotatable engagement is sleeved in the second shaft 14 the passive walking drawing cable pulley 16 of the present embodiment,
And movable motor 17 is set as two and is separately mounted on two revolving parts 6, two movable motors 17 can respectively drive two big
Leg rotates around the second shaft 14 and then realizes swing walking.
Shank 12 and thigh 11 are articulated and connected, and are equipped between thigh 11 and shank 12 for driving shank 12 relative to thigh
11 do the knee joint driving mechanism of bending unbending movement.The knee joint driving mechanism of the present embodiment includes being arranged in the second shaft 14
The upper and knee joint active drawing cable pulley 19 with synchronous rotation, the upper end of shank 12 are equipped with the knee joint shaft with thigh rotatable engagement
20, knee joint shaft 20 is parallel with the second shaft 14, and knee joint of the knee joint shaft 20 equipped with synchronous rotation is passive
Drawing cable pulley 21 is equipped with knee joint drag-line, on hip bracket 1 between knee joint active drawing cable pulley 19 and the passive drawing cable pulley 21 of knee joint
Equipped with the knee joint motor 22 being sequentially connected with the second shaft 14.Knee joint motor 22 be set as two and respectively with two second
Shaft 14 is sequentially connected, and two second shafts 14 are coaxial, can respectively drive shank 12 done relative to corresponding thigh 11 it is curved
Bent unbending movement.
The quasi- pedal plate 13 of the present embodiment is mounted on the bottom of shank 12, and ankle-joint by 23 rotatable engagement of ankle-joint shaft
Shaft 23 is parallel with the second shaft 14, is equipped between quasi- pedal plate 13 and hip or leg for driving quasi- pedal plate 13 relative to shank
The ankle-joint driving mechanism of 12 rotations.The ankle-joint driving mechanism of the present embodiment includes being separately mounted to quasi- 13 rear and front end of pedal plate
Forefoot 24 and hind paw 25, corresponded with quasi- pedal plate 13 on hip bracket 1 and be equipped with ankle-joint motor 26, ankle-joint motor
26 output shaft is equipped with ankle-joint active drawing cable pulley 27, and drag-line hole 28 is respectively equipped on forefoot 24 and hind paw 25, and ankle closes
It saves and is equipped with ankle-joint drag-line between forefoot 24 and hind paw 25 on the quasi- pedal plate 13 corresponding with being arranged in of active drawing cable pulley 27.
Ankle-joint motor 26 is set as two, and controls quasi- pedal plate 13 respectively and rotate compared to corresponding shank 12.Further, ankle-joint
Set is installed with the axle sleeve of synchronous rotation in shaft 23, and the both ends of axle sleeve are respectively equipped with coaxial loop bar 30, loop bar 30 and ankle
Joint shaft 23 is vertical, foot support 31 is respectively equipped between loop bar 30 and quasi- pedal plate 13, and foot supports 31 rotatable engagements to be sleeved on
On loop bar 30, loop bar 30 is equipped with encoder 29.
The biped of the present embodiment is semi-passive to upper body walking robot is divided, can by the way that the driving mechanism that swings is arranged
By driving lateral swing component to swing, rotated synchronously by two sideshake parts of control with opposite rotation direction, Jin Erke
Control two legs portion is closed towards swinging opening opposite to each other or swinging in opposite directions respectively, i.e., when thigh opens closed movement, robot upper body
To point；Driving mechanism is opened by setting leg, can drive leg with opposite rotation direction around the synchronous twisting of first rotating shaft, in turn
Driving two legs portion opens or is closed respectively, and keep robot upper body to divide；It, can by the way that swing driving mechanism is arranged
It respectively drives two thighs to swing forward or backward, to realize the technical purpose of front and back walking；By the way that knee joint driving machine is arranged
Structure, can drive the motion of knee joint in two legs portion, so the relatively corresponding thigh of the shank for respectively driving two legs portion do it is curved
Bent unbending movement realizes rhaeboscelia and lifts the technical purpose of leg；By the way that ankle-joint driving mechanism is arranged, quasi- pedal plate can be adjusted respectively
Angle between shank is walked in the earth's surface of differing tilt angles with realizing.In summary, half quilt of biped of the present embodiment
It is dynamic that upper body to point, can ensure steady in walking process can be remained in the process of walking to point upper body walking robot
It is qualitative, the flexibility in walking process is kept by setting knee joint driving mechanism and ankle-joint driving mechanism, and using multiple
Motor respectively drives, and structure is more succinct reliable, passes through the control to each motor, it is convenient to realize the control of walking.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
It encloses without being limited thereto.Those skilled in the art's made equivalent substitute or transformation on the basis of the present invention, in the present invention
Protection scope within.Protection scope of the present invention is subject to claims.
Claims (4)
1. a kind of biped is semi-passive to dividing upper body walking robot, including hip and two legs portion, it is characterised in that: the hip
Including hip bracket and the sideshake part being separately positioned below hip bracket left and right ends, the sideshake part rotation
Turn to be fitted on the hip bracket, and the back-and-forth motion direction of the pivot center of the sideshake part and robot is flat
Row, the hip bracket are equipped with that rotate around it axis same with opposite rotation direction for respectively driving two sideshake parts
Walk the driving mechanism that swings of rotary oscillation；Two sideshake parts are respectively arranged below with revolving part, the rotation
Part is equipped with first rotating shaft and the corresponding sideshake part rotatable engagement, the first rotating shaft and the sideshake part
Pivot center is vertical, and is equipped between the hip bracket and the revolving part for driving the revolving part around described first turn
Axis rotates and then two legs portion is driven to open driving mechanism with the leg of the synchronous twisting of opposite rotation direction；
The leg includes thigh, shank and quasi- pedal plate, and the revolving part is equipped with the second shaft, second shaft respectively with
The pivot center of the first rotating shaft and the sideshake part is vertical, and the upper end of the thigh is equipped with rotatable engagement and is sleeved on institute
The thigh connector in the second shaft is stated, and the revolving part is equipped with for driving the thigh to rotate around second shaft
Swing driving mechanism；The shank and the thigh are articulated and connected, and are equipped between the thigh and shank for driving
The shank does the knee joint driving mechanism of bending unbending movement relative to thigh；The quasi- pedal plate is rotated by ankle-joint shaft
Be fitted to the bottom of the shank, and the ankle-joint shaft is parallel with second shaft, the quasi- pedal plate with it is described
The ankle-joint driving mechanism for driving the quasi- pedal plate to rotate relative to the shank is equipped between hip or leg；
The driving mechanism that swings includes the passive swing drawing cable pulley being arranged on the sideshake part, described by movable pendulum
The axis of dynamic drawing cable pulley is conllinear with the pivot center of the sideshake part, and the hip bracket is equipped with oscillating motor, institute
The output shaft for stating oscillating motor is equipped with active roll drawing cable pulley, and the active roll drawing cable pulley and two passive swings are drawn
Swing drag-line is respectively equipped between cable pulley；
It includes being arranged in the first rotating shaft and the passive opening drag-line of synchronous rotation that driving mechanism is opened in the leg
Wheel, the hip bracket, which is equipped with, opens motor, and the output shaft for opening motor, which is equipped with, actively opens drawing cable pulley, the master
Dynamic open is equipped with opening drag-line between drawing cable pulley and the passive opening drawing cable pulley；
The swing driving mechanism include be arranged on the thigh connector and with coaxial passive of second shaft
Walking drawing cable pulley, the passive walking drawing cable pulley and the thigh connector rotate synchronously, and it is electric that the revolving part is equipped with walking
Machine, the output shaft of the movable motor are equipped with drawing cable pulley of actively walking, drawing cable pulley and the passive walking of actively walking
Walking drag-line is equipped between drawing cable pulley.
2. biped according to claim 1 is semi-passive to dividing upper body walking robot, it is characterised in that: the knee joint drives
Motivation structure includes the knee joint active drawing cable pulley being arranged in second shaft and with synchronous rotation, and the upper end of the shank is set
There is the knee joint shaft with the thigh rotatable engagement, the knee joint shaft is parallel with second shaft, and the knee closes
The passive drawing cable pulley of knee joint that shaft is equipped with synchronous rotation is saved, the knee joint active drawing cable pulley is passively drawn with knee joint
Knee joint drag-line is equipped between cable pulley, the hip bracket is equipped with the knee joint motor connecting with second rotating shaft transmission.
3. biped according to claim 1 is semi-passive to dividing upper body walking robot, it is characterised in that: the ankle-joint drives
Motivation structure includes the forefoot and hind paw for being separately mounted to the quasi- pedal plate rear and front end, is intended on the hip bracket with described
Pedal plate, which corresponds, is equipped with ankle-joint motor, and the output shaft of the ankle-joint motor is equipped with ankle-joint active drawing cable pulley, described
Drag-line hole is respectively equipped on forefoot and hind paw, the ankle-joint active drawing cable pulley is with setting on the corresponding quasi- pedal plate
Forefoot and hind paw between be equipped with ankle-joint drag-line.
4. biped according to claim 1 or 3 is semi-passive to dividing upper body walking robot, it is characterised in that: the ankle closes
Set is installed with the axle sleeve of synchronous rotation in section shaft, and the both ends of the axle sleeve are respectively equipped with coaxial loop bar, the loop bar
It is vertical with the ankle-joint shaft, foot support, and foot support rotation are respectively equipped between the loop bar and the quasi- pedal plate
For engagement sleeves on the loop bar, the loop bar is equipped with encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710025056.6A CN106741285B (en) | 2017-01-13 | 2017-01-13 | Biped is semi-passive to dividing upper body walking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710025056.6A CN106741285B (en) | 2017-01-13 | 2017-01-13 | Biped is semi-passive to dividing upper body walking robot |
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| Publication Number | Publication Date |
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| CN106741285A CN106741285A (en) | 2017-05-31 |
| CN106741285B true CN106741285B (en) | 2019-08-27 |
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| CN201710025056.6A Active CN106741285B (en) | 2017-01-13 | 2017-01-13 | Biped is semi-passive to dividing upper body walking robot |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107719505B (en) * | 2017-09-27 | 2019-11-01 | 深圳市行者机器人技术有限公司 | A kind of foot formula mobile platform |
| CN108820064B (en) * | 2018-06-01 | 2019-10-25 | 重庆大学 | Deformation leg-type mobile amphibious robot with fast junction apparatus |
| CN109484510A (en) * | 2018-12-14 | 2019-03-19 | 深圳市行者机器人技术有限公司 | A kind of robot running gear |
| CN109625116B (en) * | 2018-12-18 | 2020-12-15 | 江汉大学 | Semi-passive walking robot capable of doing knee bending movement and control method |
| CN111301550B (en) * | 2019-11-28 | 2021-07-13 | 江汉大学 | Wheel foot structure of mobile robot and control method thereof |
| CN111017063B (en) * | 2019-12-17 | 2022-03-22 | 上海哲谦应用科技有限公司 | Direct-drive type humanoid biped robot |
| CN112758208B (en) * | 2020-12-24 | 2022-01-04 | 广州大学 | Multi-degree-of-freedom four-footed soft robot |
| CN112999020B (en) * | 2021-02-19 | 2023-09-15 | 陕西捷赛达医疗设备有限公司 | Exoskeleton robot |
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| CN105857437A (en) * | 2016-05-11 | 2016-08-17 | 重庆足步科技有限公司 | Bipedal semi-passive walker and walking control method thereof |
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| JP2007160440A (en) * | 2005-12-12 | 2007-06-28 | Honda Motor Co Ltd | Control device of legged mobile robot |
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| CN101229826A (en) * | 2008-02-28 | 2008-07-30 | 清华大学 | Lower limb mechanism of biped robot |
| CN104369790A (en) * | 2014-09-04 | 2015-02-25 | 中国科学院合肥物质科学研究院 | Double-foot robot walking mechanism |
| CN105644650A (en) * | 2015-12-30 | 2016-06-08 | 哈尔滨工业大学 | Pneumatic-electric combined driving flexible biped robot |
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| CN106741285A (en) | 2017-05-31 |
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