KR20160133123A - The balancing mechanism for Fast biped locomotion - Google Patents

The balancing mechanism for Fast biped locomotion Download PDF

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Publication number
KR20160133123A
KR20160133123A KR1020150065761A KR20150065761A KR20160133123A KR 20160133123 A KR20160133123 A KR 20160133123A KR 1020150065761 A KR1020150065761 A KR 1020150065761A KR 20150065761 A KR20150065761 A KR 20150065761A KR 20160133123 A KR20160133123 A KR 20160133123A
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South Korea
Prior art keywords
link
tail
point
base
correction mechanism
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KR1020150065761A
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Korean (ko)
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KR101685916B1 (en
Inventor
김수현
이진이
박종원
이진우
윤병호
김충희
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한국과학기술원
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a posture correcting mechanism for high-speed two-leg traveling. More specifically, a tail is mounted on the left and right sides of a biometric-mimetic biped robot that biometrics the movement of a cat's hind legs, But also a posture correction mechanism that is simple in control.

Description

[0001] The present invention relates to a balancing mechanism for a two-speed high-

The present invention relates to a posture correcting mechanism for a two-legged high-speed traveling. More specifically, a tail is mounted on the left and right sides of a biometric-mimetic biped robot that imitates the movement of a cat's hind legs, But also a posture correction mechanism that is simple in control.

Generally, quadruped robots (robots that can move with four legs) are superior to the transportation means with wheels, rails and tracks, so they are in the spotlight as future transportation means and are actively researched.

However, most of the quadruped robots that have been developed to date have a disadvantage that their movement speed is very slow because they are focused on moving while balancing.

Therefore, there is a need to increase the moving speed of the robot for various applications of the quadruple robot.

According to this necessity, robot researchers are getting an interest in improving the movement ability and maneuverability by applying biomechanics mimicking living creatures to kinematic design of robots.

Until recently, several researchers have been studying the leg structure and walking posture of quadruped walking robots based on biomechanics, and they have applied the kinematic structure and walking postures of the walking animals to the robot There has been an attempt to.

As one example thereof, the structure of a legged type walking robot is disclosed in Korean Patent Laid-Open Publication No. 2003-0029554 (entitled "Legged Walking Robot and Walking Operation Structure of Robot Toys," published on Apr. 14, 2003).

The patent includes contents for constructing joints, legs and the like, imitating the walking motion of an insect, and performing position control and speed control, and its representative structure is shown in FIG.

However, such a conventional robot controls the behavior of the legs by using various motors, gears, and connecting members. However, since there is no consideration about the joint structure of the legs, there is a disadvantage that the reality about displacement and angle is insufficient.

In addition, most of the legged robots developed so far have several actuators of each joint, so that the weight of the robots is large and the moment of inertia of the legs is large.

In the case of a footprint robot, the robot has a strategy of controlling the balance and movement at the same time by using a leg composed of many degrees of freedom. Therefore, the controller of the robot needs to analyze the complex inverse kinematics of the legs in real time And a complex and slow control logic that simultaneously implements a balance in the pitch, roll and yaw directions and a gait pattern according to the speed according to the position and speed of each group, This was difficult.

Korean Patent Laid-Open No. 2003-0029554 (entitled "Walking Operation Structure of Leg Type Walking Robot and Robot Toys," published on Apr. 14, 2003)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a biometric-mimetic biped robot having a tail mimicking a movement of a cat's hind leg, To provide a posture correction mechanism that is simple in control as well as capable of high-speed travel.

An attitude correction mechanism according to the present invention includes an input link 100 that receives driving force from driving force generating means and is rotatable with respect to a first end 110 of the input link 100 and a first end 210 which is rotatable about one end 110 of the input link 100, And an A point 250 on the base link 200. The base link 200 includes a base link 200 disposed at an interval from the input link 100 and rotatable with respect to the one end 210, A second link 400 having one end 410 connected to the other end 230 of the base link 200 and a second link 400 connected to the A point of the first link 300 And a driving link 600 connected to the other end 430 of the second link 400. The third link 500 connects the first link 400 and the C point 530 on the second link 400, a pair of legs 10 mounted at a predetermined distance in the y-axis direction; A body portion 20 for forming a gap so that a pair of the leg portions 10 are spaced apart from each other by a predetermined distance in the y axis direction; A first tail turning motor 30 mounted on a first support portion 21 formed at a certain point of the body portion 20 in the y axis direction and including a first rotation shaft 31 rotating in a pitch direction, ); A first tail portion 40 extending in a direction perpendicular to the first rotation shaft 31 of the first tail-turning motor 30 and rotating in the pitch direction; Wherein a square space closed by the base link 200, the first link 300, the second link 400 and the third link 500 is formed, and the input link 100 ) Rotates the base link (200), the first link (300), the second link (400) and the third link (500) to drive the drive link do.

The posture correction mechanism includes a second tail-turning motor 50 mounted on the first support portion 21 of the body portion 20 and including a second rotation shaft 51 rotating in a pitch direction; A second tail portion 60 extending in a direction perpendicular to the second rotation shaft 51 of the second tail-turning motor 50 and rotating in the pitch direction; And the first tail portion 40 and the second tail portion 60 may be mounted such that they are symmetrical about the x-axis.

The first blade 40 and the second tail 60 may further include a first blade 41 and a second blade 61 in the form of wings.

The posture correction mechanism is formed by connecting a certain point of the body part 20 in the y axis direction and is attached to a second connection part 610 spaced a certain distance from the first support part 21 in the z axis direction A third tail-turning motor 70 including a third rotating shaft 71 that rotates in the roll direction; A third tail portion 80 extending in a direction perpendicular to the third rotation shaft 71 of the third tail rotation motor 70 and rotating in the roll direction; . ≪ / RTI >

Further, a third blade 81 in the form of a wing may be further mounted on the third tail portion 80.

The driving link includes a straight connection portion 610, a straight bent portion 630 bent at an angle from one end 611 of the connection portion 610, and a bent portion 630 bent from the end of the bent portion 630 in a curved shape And a first end of the connection portion 610 may be connected to the other end of the second link 400. In addition,

The driving link is formed by bending the bent portion 630 with an acute angle downward from the connecting portion 610 and the circular arc portion 650 extends from the bent portion 630, And may be formed by bending such that its outer peripheral surface faces downward.

Further, the arc portion 650 may be made of a composite material of carbon fiber and epoxy.

The posture correction mechanism may further include a connection link 700 connecting the other end 613 of the connection unit 610 and the D point 270 on the base link 200, The angle between the base link 200 can be kept constant.

In addition, the connection link 700 may further include an elastic member 710 having a predetermined elasticity.

The second link 400 has a triangular shape in which a line connecting one end 410 of the base link 200 and the other end 430 and C point 530 of the drive link 600 The C point 530 may be positioned at the end of the outwardly projecting link to form a vertex.

In addition, the posture correction mechanism is mounted such that the pair of legs 10 are symmetrical with respect to the x-axis, and the posture correction mechanism is mounted from the base link 200 positioned on the upper side in the z- 600), the distance between them may gradually become narrower.

In addition, the posture correction mechanism may have a rectangular space closed by the base link 200, the first link 300, the second link 400, and the third link 500.

Accordingly, the posture correcting mechanism for the two-legged high-speed traveling of the present invention is a biometric-mimetic biped robot that imitates the movement of the cat's hind legs and is mounted on the left and right sides of the tail, However, there is an advantage that control can be simplified.

More specifically, the present invention can be carried out at a high speed by using a biomechanical biped robot mechanism having a simple structure using only one motor for one leg. At this time, dynamic freedom for posture control is applied to the left and right sides of the body The attached tail was used.

The tail controls the posture of the two-legged robot by preventing the robot from falling forward and backward by applying a torque in the pitch direction and preventing the tail mounted on the front from generating a torque in the roll direction to collapse on both sides. Can control the posture using only a very simple inverted pendulum model without the need to interpret the kinematics of the complicated leg structure. Thus, the conventional method of controlling the inverse kinematics of the complex legs of two degrees of freedom in real time , It is effective and enables the posture control at high speed traveling simply.

Further, by mounting the blades on the rotating tail, the present invention greatly increases the air resistance as the rotational speed of the tail increases, which enables continuous reverse torque generation even if saturation of the motor speed occurs Therefore, it is possible to advantageously control the attitude of the robot.

Further, since the pair of legs are mounted so as to be symmetrical with respect to each other, and the distance between the pair of legs is set to be narrower toward the lower side, the stride width in operation becomes narrower and the roll direction moment decreases, so that stable high- .

1 is a view showing a structure of a conventional legged type walking robot.
2 is a perspective view of an attitude correction mechanism for a two-legged high-speed run according to the present invention.
3 is a perspective view of another posture correction mechanism for two-legged high-speed travel according to the present invention.
4 is a side view of an attitude correction mechanism for a two-legged high-speed run according to the present invention;
5 is a front view of an attitude correction mechanism for two-legged high-speed travel according to the present invention.
Figs. 6 and 7 are diagrams showing loci of an attitude correcting mechanism for two-group high-speed traveling according to the present invention
8 is a simulation showing a running state of an attitude correcting mechanism for two-legged high-speed traveling according to the present invention.
9 is a free object view for controlling the pitch direction of an attitude correcting mechanism for a two-legged high-speed traveling according to the present invention.
10 is a graph comparing torque saturation in the case where only the first tail and the second tail are used in the attitude correcting mechanism for two-legged high-speed traveling according to the present invention, and when the first and second blades are used together.

Hereinafter, an attitude correcting mechanism for two-legged high-speed traveling according to the present invention will be described in detail with reference to the accompanying drawings.

2 to 4 are a perspective view, a side view, and a front view, respectively, of an attitude correcting mechanism for a two-legged high-speed traveling according to the present invention. As shown in FIGS. 2 to 4, the posture correcting mechanism The body 10, the body 20, the first tail-turning motor 30, and the first tail 40, as shown in FIG.

First, the leg 10 is formed with a pair of legs 10 mounted at a predetermined distance from each other in the y-axis direction, and the input link 100, the base link 200, 300, a second link 400, a third link 500, and a drive link.

The input link 100 is provided at one end 110 with a driving force from a driving force generating means 150 such as a motor and is rotatably provided to the robot body with reference to the one end 110.

The base link 200 is formed in a straight shape and is formed to be five times longer than the input link 100. One end 210 of the base link 200 is spaced a certain distance from the one end 110 of the input link 100 And is rotatably provided on the robot body or the like with respect to the one end 210 as a reference. That is, one end 210 and the other end 230 of the base link 200 are disposed in the same direction as the one end 110 and the other end of the input link 100. In the present invention, the robot main body is the body part 20, and a detailed description will be further given below.

The base link 200 is formed with an A point 250 to which a first link 300 to be described later is connected and a D point 270 to which a connection link 700 to be described later is connected. The A point 250 is disposed closer to the one end 210 than the other end 230 of the base link 200 and the D point 270 is disposed at a position closer to the other end 230 than the one end 210 of the base link 200. [ As shown in Fig.

The first link 300 has a straight shape and connects the other end 130 of the input link 100 to the A point 250 on the base link 200. One end of the first link 300 is hingably connected to the other end 130 of the input link 100 and the other end of the first link 300 is connected to the A point 250 on the base link 200. [ As shown in FIG.

One end 410 of the second link 400 is hingably connected to the other end of the first link 300. The detailed structure of the second link 400 will be described later.

The third link 500 is of a straight shape and connects the B point 510 of the first link 300 to the C point 530 of the second link 400. That is, one end 510 of the third link 500 is hingably connected to the B point 510 of the first link 300, and the other end 530 of the third link 500 is connected to the second link 500 400 to the C-point 530

The second link 400 connects a first end 410 to which the base link 200 is connected and another end 430 to which the drive link 600 is connected and a C point 530 to which the third link 500 is connected. And the C point 530 to which the third link 500 is connected may be connected to the base link 200. In this case, the C link 530 is located at the end of the link protruding outward so that the C point 530 forms a vertex, More preferably at a distance closer to the one end 210 than the other end 230 of the other end.

The length of each link constructed as described above is preferably long in the order of the input link 100, the first link 300, the third link 500, the base link 200, and the second link 400 But is not limited thereto.

A rectangular space R closed by the base link 200 and the first link 300 and the second link 400 and the third link 500 is formed, From the A point 250 of the base link 200 to the other end 230 of the base link 200 from the B point 510 of the base link 200 to the A point 250 of the base link 200, The third link 500 which is the C point 530 of the second link 400 from one end 410 of the second link 400 as the other end 230 to the C point 530 of the second link 400, And the other end 530 of the third link 500 forms a side of the closed square R. [

At this time, the rotational movement of the input link 100 creates relative motion between the base link 200, the first link 300, the second link 400, and the third link 500, The link 600 is driven.

The driving link 600 may include a connecting portion 610, a bent portion 630, and a circular arc portion 650.

One end 611 of the connection portion 610 is hingably connected to the other end 430 of the second link 400 and the other end 613 of the connection portion 610 is connected to the other end The connection link 700 is connected.

The bent portion 630 is angled from one end 611 of the connection portion 610 and bent in a straight line. In particular, it is preferable that the bent portion 630 be bent at an acute angle? From the connecting portion 610 downward.

The arcuate portion 650 has an arc shape bent in a curved shape from the end of the bent portion 630. Particularly, it is preferable that the arc portion 650 is formed by bending the arc portion 650 from the bent portion 630 such that the outer circumferential surface forming the arc is directed downward.

At this time, it is preferable that the arc portion 650 is made of a composite material of carbon fiber and epoxy so that the arc portion 650 is formed to have a certain elasticity so that the two-legged robot can travel and can be rewound after some degree of deformation even if friction with the floor surface occurs .

The connection link 700 connects the other end 613 of the connection portion 610 and the D point 270 on the base link 200. [ That is, one end of the connection link 700 is hingably connected to the other end 613 of the connection portion 610, and the other end of the connection link 700 is hingeably connected to the D point 270 on the base link 200 It is connected.

As described above, the posture correction mechanism of the present invention is configured such that the connection link 700 connects the other end 613 of the connection portion 610 and the D point 270 on the base link 200, The angle between the connecting portion 610 and the base link 200 can be kept constant even if the relative motion is performed, and is structurally stable.

At this time, the connection link 700 further includes an elastic member 710 having a predetermined elasticity, thereby functioning as an Achilles heel to absorb an impact when traveling.

Meanwhile, the body 20 has an interval such that the pair of legs 10 having the above-described configuration are spaced apart from each other by a predetermined distance in the y-axis direction. It may be formed in a substantially U-shape as described above, but it may be changed into any other form.

In particular, the posture correcting mechanism for high-speed two-leg traveling according to the present invention is characterized in that the tail is mounted on the left and right sides of the biometric-mimetic biped robot, To this end, the present invention comprises a first tail 40 and a first tail-turning motor 30.

The first tail turning motor 30 is coupled to a first support portion 21 formed at a certain point of the body portion 20 and extending in the y axis direction, So that the longitudinal direction of the first rotating shaft 31 and the y-axis direction are arranged in parallel.

The first tail 40 extends in the direction perpendicular to the first rotation axis 31 of the first tail-turning motor 30 and rotates in the pitch direction. Preferably, the first tail portion 40 is formed to be thin and long, and the length of the first tail portion 40 is such that it does not disturb the running of the leg portion 10.

If the length of the tail is sufficiently extended, the first tail 40 can generate a large torque even with a small tail mass, thereby enabling a lightweight design of the robot.

The posture correction mechanism for high-speed two-leg traveling according to the present invention includes a second tail portion 60 rotating in the pitch direction and a second tail-turning motor 50 rotating the same in the same manner as the first tail portion 40 As shown in FIG.

The second tail turning motor 50 is mounted on the first support portion 21 and includes a second rotation shaft 51 rotating in the pitch direction. The second rotation shaft 51 is connected to the first rotation shaft 31 and the first tail 40 and the second tail 60 are mounted symmetrically about the x-axis.

The second tail portion 60 extends in a direction perpendicular to the second rotation shaft 51 of the second tail-turning motor 50 and rotates in the pitch direction.

That is, according to the present invention, the posture correction mechanism for high-speed two-leg traveling has the first tail 40 rotated on one side in the y-axis direction of the body 20 and the second tail 60 So that the pair of legs 10 are balanced so as not to collapse back and forth while generating torque at both sides during traveling.

As shown in FIG. 3, the first and second tails 40 and 60 are provided with a first blade 41 in the form of a wing so that torque can be continuously generated without being saturated using an atmospheric resistance And the second blade 61 may be further mounted.

In other words, the present invention is characterized in that the first blade (41) and the second blade (61) are mounted on the rotating first and second tail portions (40, 60) As the rotational speed of the two tail portions 60 increases, the air resistance is greatly increased. Even if the saturation of the motor speed occurs, continuous reverse torque generation becomes possible, .

In addition, the posture correction mechanism of the present invention includes a third tail portion 80 rotating in the roll direction and a third tail turning motor 70 rotating the third tail portion.

The third tail-turning motor 70 is formed by connecting a certain point of the body 20 in the y-axis direction and has a second connecting portion (not shown) spaced apart from the first supporting portion 21 by a predetermined distance 610 and includes a third rotating shaft 71 that rotates in the roll direction.

The third tail portion 80 extends in a direction perpendicular to the third rotation shaft 71 of the third tail wheel rotation motor 70 and rotates in the roll direction.

At this time, like the first tail portion 40 and the second tail portion 60, a third blade 81 in the form of a wing may be further mounted on the third tail portion 80.

Accordingly, the posture correction mechanism for high-speed two-leg traveling according to the present invention is further provided with the third tail portion 80 which rotates in the roll direction from the front or rear of the body portion 20, (40) and the second tail (60), it is possible to travel at a high speed while balancing without falling down on both sides.

In addition, the posture correction mechanism of the present invention is configured such that the pair of legs 10 are disposed so as to be symmetrical about the x-axis, and the posture correcting mechanism is mounted on the base link 200 located on the upper side in the z- The distances from each other to the link gradually become narrower.

This is based on a catwalk, and it is possible to make stable high-speed travel as the stride width decreases while the roll direction moment decreases.

Hereinafter, the operation of the posture correction mechanism according to the present invention will be described.

6, one end 110 of the input link 100 and one end 210 of the base link 200 are fixed to the robot body (not shown) so that their positions do not change and become a rotation center point .

The rotational movement of the input link 100 by the driving force input of the motor generates relative motion between the base link 200 and the first link 300, the second link 400 and the third link 500, 600). And a force is transmitted to the ground due to the movement of the driving link 600.

7 shows the relative positions of the links according to the angle of the input link 100. When the angle of the input link 100 is 0 占 the driving link 600 is away from the ground, (610) is arranged close to a vertical line on the ground.

When the angle of the input link 100 is -90 degrees, the driving link 600 is away from the ground, and the direction in which the connecting portion 610 of the driving link 600 is disposed is disposed close to a vertical line on the ground, And is disposed with a greater angle than the vertical line when the angle of the link 100 is 0 °.

When the angle of the input link 100 is -180 degrees, the driving link 600 is away from the ground, and the direction in which the connecting portion 610 of the driving link 600 is disposed is arranged close to the horizontal line on the ground.

When the angle of the input link 100 is -270 °, the arc portion 650 of the drive link 600 comes into contact with the ground, and the direction in which the connection portion 610 of the drive link 600 is disposed is perpendicular to the ground And is arranged in the same shape as when the angle of the input link 100 is -90 DEG.

That is, when the angle of the input link 100 is -90 ° and when the angle of the input link 100 is -90 °, the driving link 600 has the same shape when the input link 100 is at an angle of -90 ° and -270 °. 600 are away from the ground and the drive link 600 is in contact with the ground when the angle of the input link 100 is -270 °.

As described above, in the posture correction mechanism of the present invention, the first tail 40, the second tail 60, and the third tail 80 rotate at a constant speed to generate a torque , It is possible to control the posture independent of the left and right legs while maintaining the same walking pattern, and it is possible to travel at a high speed.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. It goes without saying that various modifications can be made.

10: leg
100: input link
110, 130: one end of the input link, the other end
150: driving force generating means
200: base link
210, 230: one end of the base link, the other end
250: Point A 270: Point D
300: first link
400: second link
410, 430: one end of the second link, the other end
500: Third link
510: B point 530: C point
600: drive link
610:
611, 613: one end of the connecting portion, the other end
630: Bending section 650: Circular arc section
700: connecting link 710: elastic member
20: body portion 21: first support portion
22: second support portion
30: first tail turning motor 31: first rotating shaft
40: first tail portion 41: first blade
50: second tail turning motor 51: second rotating shaft
60: second tail portion 61: second blade
70: Third tail turning motor 71: Third rotating shaft
80: third tail 81: third blade

Claims (13)

An input link 100 having a driving force input from a driving force generating means and rotatable with respect to a first end 110 and a first end 210 disposed at an interval from one end 110 of the input link 100, (300) connecting the other end (130) of the input link (100) and the A point (250) on the base link (200) A second link 400 having one end 410 connected to the other end 230 of the base link 200 and a second link 400 connecting the A point 250 of the first link 300 and the second link 400, A third link 500 connecting the C point 530 on the first link 400 and a drive link 600 connected to the other end 430 of the second link 400, A pair of legs 10 to be mounted;
A body portion 20 for forming a gap so that a pair of the leg portions 10 are spaced apart from each other by a predetermined distance in the y axis direction;
A first tail turning motor 30 mounted on a first support portion 21 formed at a certain point of the body portion 20 in the y axis direction and including a first rotation shaft 31 rotating in a pitch direction, );
A first tail portion 40 extending in a direction perpendicular to the first rotation shaft 31 of the first tail-turning motor 30 and rotating in the pitch direction; / RTI >
A space closed by the base link 200, the first link 300, the second link 400, and the third link 500 is formed,
The rotational movement of the input link 100 creates a relative motion between the base link 200 and the first link 300 and between the second link 400 and the third link 500, And a driving mechanism for driving the posture correcting mechanism.
The method according to claim 1,
The posture correction mechanism
A second tail-turning motor 50 mounted on the first support portion 21 of the body portion 20 and including a second rotation shaft 51 rotating in the pitch direction;
A second tail portion 60 extending in a direction perpendicular to the second rotation shaft 51 of the second tail-turning motor 50 and rotating in the pitch direction; / RTI >
Wherein the first tail portion (40) and the second tail portion (60) are mounted so as to be symmetrical about the x-axis.
3. The method of claim 2,
The first tail (40) and the second tail (60)
Wherein the wing-shaped first blade (41) and the second blade (61) are further mounted.
3. The method of claim 2,
The posture correction mechanism
Axis direction and connected to a second connection part 610 spaced a predetermined distance from the first support part 21 in the z-axis direction, and is rotatable in the roll direction A third tail-turning motor 70 including a third rotary shaft 71;
A third tail portion 80 extending in a direction perpendicular to the third rotation shaft 71 of the third tail rotation motor 70 and rotating in the roll direction; Wherein the posture correction mechanism includes:
5. The method of claim 4,
The third tail portion (80)
And a third blade (81) in the form of a wing is further mounted.
The method according to claim 1,
The drive link
A straight connection portion 610,
A serpentine bent portion 630 bent at an angle from one end 611 of the connection portion 610,
An arcuate arc portion 650 bent in a curved shape from an end of the bent portion 630,
And one end of the connection portion (610) is connected to the other end of the second link (400).
The method according to claim 6,
The drive link
The bent portion 630 is formed to be bent at an acute angle in the downward direction from the connecting portion 610,
Wherein the circular arc portion (650) extends from the bent portion (630), and is formed by bending the outer circumferential surface forming the circular arc toward the lower side.
8. The method of claim 7,
The circular arc portion 650
A carbon fiber and an epoxy composite material.
The method according to claim 6,
The posture correction mechanism
And a connection link 700 connecting the other end 613 of the connection portion 610 and the D point 270 on the base link 200,
Wherein an angle between the connecting portion (610) and the base link (200) is kept constant.
10. The method of claim 9,
The connecting link 700
And an elastic member (710) having constant elasticity.
The method according to claim 1,
The second link (400)
A line connecting the one end 410 of the base link 200 and the other end 430 and the C point 530 to which the driving link 600 is connected has a triangular shape and the C point 530 And is located at an end portion of the outwardly projecting link to form a vertex.
The method according to claim 1,
The posture correction mechanism
A pair of leg portions 10 are disposed and mounted so as to be symmetrical about the x-axis,
wherein a distance between the base link (200) located on the upper side in the z axis direction and the driving link (600) located on the lower side is gradually narrowed.
The method according to claim 1,
The posture correction mechanism
Wherein a square space closed by the base link (200), the first link (300), the second link (400), and the third link (500) is formed.
KR1020150065761A 2015-05-12 2015-05-12 The balancing mechanism for Fast biped locomotion KR101685916B1 (en)

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CN110104091A (en) * 2019-05-22 2019-08-09 中南大学 Two leg walking robot based on parallel institution
CN115091428A (en) * 2022-08-24 2022-09-23 西安猎鹰科技有限公司 Intelligent substation inspection robot
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