Narrow-foot type passive walking device and control method thereof

Abstract

The invention discloses a narrow-foot type passive walking device which comprises a hip part, a driving device, a fixed frame, a data collecting device and a main control board, wherein the hip part comprises a left hip and a right hip, each hip is fixedly connected with a straight leg, and each straight leg is fixedly connected with a foot; the driving device provides power for the walking device to walk, the main control board conducts analysis according to data collected by the data collecting device so as to control the swinging frequency and swinging angle of the straight legs, the top end of the right hip is connected with the fixed frame, and the left hip is movably connected with the fixed frame. The narrow-foot type passive walking device has a complete double-foot walking form, is simple and ingenious in structure, and achieves lateral balance during walking with a brand new foot design; knees are not needed, the self-stabilization and natural gait dynamic characteristics of passive walking are utilized, and the control method is simple. The narrow-foot type passive walking device has substantial application prospect in the field of leg and foot rehabilitation therapy and the field of toys, and is of great potential application value even in the field of military application.

Description

technical field [0001] The invention relates to a walking device, in particular to a device capable of realizing walking in a three-dimensional walking plane. Background technique [0002] At present, the research of robots is a hot spot all over the world, especially the research of biped walking robots in anthropomorphic form is in full swing. The currently available biped walking devices have made many achievements worthy of recognition in humanoid walking, but generally there are still some defects, such as (1) not a complete biped robot, including the Ranger of Cornell University. , it uses four legs to realize the function of pure two legs, which can only be regarded as walking in a two-dimensional sense; (2) the energy consumption is too large to be suitable for practical applications, including the ASIMO of Japan's HONDA company, although it has a complete Humanoid form, but a fully active robot consumes a lot of energy; (3) Although it has a complete bipedal walkin...

AI Technical Summary

Problems solved by technology

The currently available biped walking devices have made many achievements worthy of recognition in humanoid walking, but generally there are still some defects, such as (1) not a complete biped robot, including the Ranger of Cornell University. , it uses four legs to realize the function of pure two legs, which can only be regarded as walking in a two-dimensional sense; (2) the energy consumption is too large to be suitable for practical applications, including the ASIMO of Japan's HONDA company, although it has a complete Humanoid form, but a fully active robot consumes a lot of energy; (3) Although it has a complete bipedal walking form, the feet are too wide, there is no good morphological anthropomorphic effect, and the device structure is too complicated , such as: Denise from Delft University in the Netherlands, Toddler from MIT, etc.

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