A low-power consumption walking device and control method based on an intelligent terminal

Abstract

The invention discloses a low-power dissipation running gear and a control method based on an intelligent terminal. The low-power dissipation running gear comprises a pair of leg portions, a driving device, a braking device, and an upper body. Tilt angle sensors are arranged at the upper ends of hip joints, encoders are respectively arranged on inner sides of upper legs and lower legs, gyroscopes are respectively arranged on the left side and the right side of the hip joints and are fixed on a first revolving shaft connecting the leg portion and the hip joints, pressure sensors are respectively arranged on the bottom of two feet, the upper body comprises a support frame and an intelligent terminal, a driving circuit and a data acquisition device which are arranged on the supporting frame, the lower end of the supporting frame is connected with the hip joints through a second revolving shaft, the data acquisition device is respectively connected with the intelligent terminal, the driving circuit, the tilt angle sensors, four encoders, two gyroscopes and two pressure sensors, and the driving circuit is connected with the driving device and the braking device respectively. The low-power dissipation running gear and the control method based on the intelligent terminal have more reasonable human simulating shape, and are equipped with low energy consumption and natural steps of a driven walking device.

Description

technical field [0001] The invention relates to a low-power consumption walking device and a control method based on an intelligent terminal. Background technique [0002] The current mainstream mechanical walking devices mainly have two walking modes, one is the wheel type, that is, the movement of the walking device is realized by controlling the rotation of the wheel shaft by the motor, and the other is the foot type, and the current mainstream foot type walking devices are mainly divided into two types , one is represented by Asimo produced by Japan's HONDA company, which is called an active walking robot, which can simulate various human walking actions, including stable walking at different speeds, walking slowly, going up and down stairs, and has obstacle avoidance Walking ability, but they all involve the use of high-torque drive system and high-gain feedback control; the other is a lot of passive walking machines studied in recent years, its biggest feature is low e...

AI Technical Summary

Problems solved by technology

[0002] The current mainstream mechanical walking devices mainly have two walking modes, one is the wheel type, that is, the movement of the walking device is realized by controlling the rotation of the wheel shaft by the motor, and the other is the foot type, and the current mainstream foot type walking devices are mainly divided into two types , one is represented by Asimo produced by Japan's HONDA company, which is called an active walking robot, which can simulate various human walking actions, including stable walking at different speeds, walking slowly, going up and down stairs, and has obstacle avoidance Walking ability, but they all involve the use of high-torque drive system and high-gain feedback control; the other is a lot of passive walking machines studied in recent years, its biggest feature is low energy consumption and natural gait, mainly based on McGeer The research-designed walking device with straight legs and knee joints is the representative. In recent years, a large number of new similar research models have appeared, including pure passive walking devices to semi-passive walking devices, but none of them have an upper body and do not have a real humanoid form.

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