Gear transmission halving upper body energy-saving passive walking device and control method thereof

Abstract

The invention relates to a gear transmission halving upper body energy-saving passive moving device. The gear transmission halving upper body energy-saving passive walking device comprises an upper body, legs, a driving unit and a data acquisition unit and further comprises a hip, knees, a main control unit and a spring unit. The driving unit comprises a battery, a direct current motor and a servo motor. The upper body is directly connected to the hip of the robot. The hip is of a symmetrical structure and in connection with the upper body and both sides of the hip are connected to the legs respectively. The hip comprises partial leg connecting shafts, bearings, an absolute encoder connecting shaft and bevel gears. The bevel gears of the hip are of a triple-bevel-gear symmetrical structure and the two bevel gears in bilateral symmetry are connected to the legs through the partial leg connecting shafts respectively. The partial leg connecting shafts are connected to the bearings. The third bevel gear is directly connected to a transmission shaft of the motor. The gear transmission halving upper body energy-saving passive walking device is a bipedal walking device which is simple and compact in structure, ingenious in design and energy-saving.

Description

technical field [0001] The invention relates to the technical field of robot control, and particularly proposes an energy-saving passive walking device and a control method for splitting the upper body through a gear transmission Background technique [0002] Nowadays, robot technology is a research hotspot all over the world, especially the research on biped walking robot in anthropomorphic form is the most cutting-edge technology in this field. At present, countries have achieved good results in the research of biped robots, but there are still many defects on the whole. For example (1) It is not a passive walking device, which consumes a lot of energy and is not suitable for specific applications. For example, ASIMO of Japan’s HONDA has a complete anthropomorphic form, but it is a fully active robot and consumes too much energy; [0003] For example, (2) is not an anthropomorphic walking robot in a complete sense. Through structural improvement, this type of robot only n...

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Problems solved by technology

Such as the ranger robot of Cornell University, Delft University in the Netherlands has developed a variety of passive walking robots since 2002. The semi-passive walking robot Mike ( 2002) has degrees of freedom in the knee joints and ankle joints of both legs, so it is a 2D passive walking robot; Max (2003) introduced in the article "Ankle springs instead of arc-shaped feet for passive dynamic walkers" is also a 2D walking robot For the prototype, the upper body adopts a linkage mechanism to keep it always on the bisector of the two legs, and realizes stable walking through pneumatic artificial muscles. This type of robot simply simulates the gait of human walking, without complete anthropomorphism; for example (3 ) is structurally a 3D passive walking robot, but due to the complex structural design and difficult control, it causes unnecessary energy loss and does not really achieve the goal of energy-saving walking, such as the semi-passive robot of Delft University recorded in the IEEE International Conference on Robotics and Automation. Flame, a walking robot, weighs 15kg, is 1.3m high, and has a lateral degree of freedom. It realizes 3D dynamic walking. Due to the complex structure of the robot, it only realizes 3D walking without optimizing the energy consumption of the robot.

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