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Upper body experiment platform of humanoid robot

A technology of humanoid robot and experimental platform, which is applied in the verification of robot humanoid motion and the field of humanoid robot experimental platform, can solve the problems that the theoretical verification of humanoid robot cannot be realized, and achieve rich model selection, reduce load, and simplify complexity Effect

Inactive Publication Date: 2015-03-04
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, the existing humanoid robot is rigidly connected from the waist to the neck and cannot be bent, which has a certain deviation from the current theoretical research on humanoid robots, and the theoretical verification of humanoid robots cannot be realized

Method used

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  • Upper body experiment platform of humanoid robot
  • Upper body experiment platform of humanoid robot
  • Upper body experiment platform of humanoid robot

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Experimental program
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Embodiment Construction

[0021] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0022] With reference to accompanying drawing, structure of the present invention comprises waist, upper trunk and shoulder three parts.

[0023] Waist structure such as figure 2 As shown, it is composed of a second motor 40 , a shaft coupling 41 , a waist rotating shaft 42 , a rotating bracket 43 and a thrust bearing 44 . Rotating support 43 is divided into upper and lower layers, and supports with column in the middle. The second motor 40 is fixed at the center position of the lower layer of the rotating bracket 43, the upper layer of the rotating bracket 43 is provided with a thrust bearing 44, and the second motor 40 is placed on the central axis. The upper ring of the thrust bearing 44 is embedded in the waist base plate 27, which is interference fit with the waist rotating shaft 42, and the lower ring of the thrust bearing 44 is embedded in the rotating brac...

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Abstract

The invention discloses an upper body experiment platform of a humanoid robot, belongs to the technical field of robot application, and is mainly applied to verification of humanoid motion of a robot. A human body structure is taken into full consideration. The humanoid robot experiment platform brought forward by the invention comprises the following functions: a left-right rotational waist portion, an upper trunk and a width adjustable shoulder portion. The left-right rotation of the waist portion is directly driven by a stepping motor, the structure is simple, and the realization is easy. On the basis of realization data of a human body motion capture system, a relation between the front-back pitch angle of the waist portion and the bending angle of a thoracic vertebra is refined, and a specific relation between the rotation angle of the waist and the bending angle of the thoracic vertebra is realized through a gear set. According to the invention, the experiment platform is more similar to the human body structure, and the motion states of people can be more accurately verified. At the same time, the front-back pitch axis of the waist portion and the bending axis of the thoracic vertebra are provided with a damping system suitable for the platform, such that the load driving the motor is reduced. The shoulder width is adjustable so that the applicability to the people with different shoulder widths is greatly improved.

Description

technical field [0001] The invention belongs to the field of humanoid robots, and relates to a humanoid robot experiment platform from the waist to the shoulder, which is mainly used for the verification of robot humanoid motion, including from the waist structure to the shoulder structure, and is characterized in that it has three free Degree, including the left and right rotation of the waist; the front and rear pitch of the waist, where the front and rear pitch of the waist is associated with the small forward bending of the chest through a special transmission system to ensure a specific transmission ratio; the width of the shoulders is adjustable. technical background [0002] In the field of robotics, human-computer interaction and human-computer collaboration are the future development directions. In the process of human-computer interaction and interpersonal collaboration, the behavior of robots is required to be predictable by humans, and their behaviors and actions...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01M99/00
Inventor 郭兴伟赵京
Owner BEIJING UNIV OF TECH
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