Telescopic-leg energy-saving 2D under-actuated traveling device and control method thereof

Abstract

The invention relates to a telescopic-leg energy-saving 2D under-actuated traveling device. The telescopic-leg energy-saving 2D under-actuated traveling device comprises leg parts, a hip part, a drive device, a data acquisition device and a main control device, wherein the hip part comprises a left hip part and a right hip part, which are bilaterally symmetric to each other, the drive device comprises batteries and T-type double-end coaxial motors, the batteries are arranged inside the left hip part and the right hip part and used for powering the traveling device, the left hip part and the right hip part are connected with the leg parts through crankshaft rocking bars, each crankshaft rocking bar comprises an N-type crankshaft and a leg part rotating rocking bar, the T-type double-end coaxial motors are arranged inside the left hip part and the right hip part, stators of the T-type double-end coaxial motors are fixed in the left hip part and the right hip part, rotors of the T-type double-end coaxial motors penetrate through the outer sides of the left hip part and the right hip part to be connected with the crankshaft rocking bars, the other ends of the rotors penetrate through the inner sides of the left hip part and the right hip part to be connected with the crankshaft rocking bars in the left hip part and the right hip part so as to provide power to the traveling device. The traveling device is convenient to control and simple in structure.

Description

technical field [0001] The invention relates to an underactuated walking device, and particularly proposes to realize the underactuated traveling device with telescopic legs with a brand-new mechanical structure. Background technique [0002] Nowadays, robot technology is a research hotspot all over the world, especially the research on underactuated walking robot is the cutting-edge technology in this field. At present, good results have been achieved in the research of underactuated walking robots at home and abroad, and a very representative physical prototype prototype has also been developed. For example (1) In 2010, a 2D underactuated walking robot "Ranger" developed by Cornell University solved the problem of walking and wiping the ground by cleverly rotating the ankle joint, and walked 23 kilometers within 11 hours. The disadvantage is that the transmission structure is complicated, and three motors need to be controlled at the same time, so it is not suitable for a...

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Problems solved by technology

For example (1) In 2010, a 2D underactuated walking robot "Ranger" developed by Cornell University solved the problem of walking and wiping the ground by cleverly rotating the ankle joint, and walked 23 kilometers within 11 hours. The disadvantage is that the transmission structure is complex, and three motors need to be controlled at the same time, which is not suitable for actual large-scale promotion

For example (2) Delft University in the Netherlands has developed a variety of underactuated walking robots since 2002. The underactuated walking robot Mike (2002) introduced in the article "Adding an upper body to passive dynamic walking robots by means of a bisecting hip mechanism" ), the knee joints of its legs have a complex self-locking structure, so as to avoid the problem of swinging feet to wipe the ground; Max (2003) introduced in the article "Ankle springs instead of arc-shaped feet for passive dynamic walkers" is also a 2D walking robot The prototype continues to use the self-locking knee joint structure, and the latest 2D robot Meta also adopts a similar structure. The biggest problem with this structure is that the design of the knee joint of the leg is complicated, resulting in a large mass of the leg and high energy consumption.

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