Travelling mechanism of two-foot walking robot

Abstract

The invention discloses a travelling mechanism of a two-foot walking robot. The travelling mechanism comprises a front leg, a rear leg, a front foot, a rear foot, a two-way rotary drive motor, a cam, a front one-way rotating wheel and a rear one-way rotating wheel, wherein the drive motor is arranged on the buttock of the robot and is positioned between the front leg and the rear leg; the cam is arranged on the output shaft of the drive motor and can drive the front one-way rotating wheel and the rear one-way rotating wheel alternately; the front one-way rotating wheel is arranged on the front leg, and the rear one-way rotating wheel is arranged on the rear leg; the front and rear ends of the buttock of the robot are slidably and rotatably connected with the upper ends of the front leg and the rear leg respectively, and the upper ends of the front leg and the rear leg are respectively provided with a locking mechanism; and the front foot and the rear foot are provided with pressure sensors, each pressure sensor is electrically connected with a controller in the robot, and the controller is electrically connected with the locking mechanisms. The travelling mechanism of the two-foot walking robot has the advantages that the structure is simple, the weight of the robot can be lightened, and the energy consumption can be reduced.

Description

technical field [0001] The invention relates to a walking mechanism of a robot, more precisely to a walking mechanism of an underactuated biped walking robot. Background technique [0002] In a robot with non-driven (not driven by power) joints, the driven joints drive the non-driven joints to complete the required actions through the coupling relationship. Due to the existence of non-driven joints, such a kinematic system is called an under-actuated system, that is, an independent control system The variables (drive units) are less than the degrees of freedom (number of joints) of the system. [0003] The walking mechanism structure of the biped robot of the prior art is more complicated, basically can use more than two driving motors, this just makes the overall weight of the robot heavier, and the walking control method of the walking mechanism of the robot of the prior art is more complicated, walking When walking, the legs are mainly driven by motors. The more motors a...

AI Technical Summary

Problems solved by technology

[0003] The walking mechanism structure of the biped robot of the prior art is more complicated, basically can use more than two driving motors, this just makes the overall weight of the robot heavier, and the walking control method of the walking mechanism of the robot of the prior art is more complicated, walking The legs are mainly driven by motors, the more motors are used, the greater the energy consumption when walking

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