Novel robot walking mechanism and method

Abstract

The invention provides a novel robot walking mechanism, which comprises a body framework, wherein at least two walking units are symmetrically distributed on the left and right sides of the body framework, each walking unit comprises at least three joint modules, and each joint module comprises a joint rotating shaft and a rotating arm. The mechanism is characterized in that: a certain front joint module and a certain rear joint module of the walking unit are combined into a leg lifting mechanism with leg lifting function for independent walking of the walking unit, and the other joint modules are combined into a leg walking mechanism with walking function for independent walking of the walking unit. The invention also provides a method adopting the structure. The method comprises the steps of lifting a group of legs and then making the other group of legs stretch backwards to advance. The mechanism has the advantages that: the whole multi-leg robot is miniaturized and light, has high speed and low energy consumption, and can achieve the ideal entertainment effect of adapting to a complex pavement.

Description

technical field [0001] The invention relates to a robot walking mechanism and a method of the mechanism, belonging to the technical field of intelligent robots. Background technique [0002] In the product research of robots (including robot dogs or other robot animals), the walking system is the key mechanism. In the criteria for judging the walking system, straight-line speed, energy consumption, and adaptation to uneven ground are the keys, which directly determine the practicability and attractiveness of the robot to users. In reality, the walking system depends on how the body and legs are connected and how the leg structure is built. For example, a quadruped robot is composed of front left, front right, back left, and back right four legs to form a walking system. When walking, the movement direction and speed of two diagonal legs (front left-back right, front right-back left) Consistent with the phase, the process of walking consists of two alternating phases, namel...

AI Technical Summary

Problems solved by technology

[0006] 1. Since the movement function of lifting the leg and the function of stepping are not independently realized and the two movement planes are the same, it is difficult to meet the zero-pressure initial condition of stepping, that is, the gravity existing in the body is transferred to the preparation through the rotation plane of the first joint. On the calf that is walking, and cause resistance interference to the movement of the calf on the same motion plane, this resistance interference can only be overcome under the condition that the motors of the first joint and the third joint provide a large stall torque, which requires the first joint The size and weight of the motor is large, and it will cause the speed of the motor to slow down, while the weight of the whole body is large

[0007] 2. Due to the heavy weight of the body, it is required that the knee bending angle should not be large, so the height of the soles of the feet from the ground should not be too large, which in turn will further affect the speed of travel and adapt to the uneven ground

[0008] Because of this, the above-mentioned walking mechanism causes the existing quadruped robot products to have the shortcomings of heavy weight, large volume, slow speed, large energy consumption and inability to adapt to complex road surfaces.

The practicality and entertainment are not good, which is not conducive to the popularization of household or entertainment robots

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