All-landform walking device and control method thereof

Abstract

The invention discloses an all-landform walking device and a control method thereof. The all-landform walking device comprises at least four sets of walking mechanism units which are connected in sequence. Each walking mechanism unit comprises a straight leg used for walking and a hip used for driving the straight leg to move up and down and swing. The hips are connected through couplers. According to the all-landform walking device and the control method thereof, through the passive walking device with the straight legs capable of being driven to move up and down and swing, the dynamic characteristics of being high in self-stability during passive walking, natural in gait, efficient and capable of saving energy are achieved; meanwhile, the all-landform walking device has the advantages of being simple in structure and convenient to operate; the all-landform walking device has broad application prospects in the rehabilitation medical field and the toy field and even has high potential military application value.

Description

technical field [0001] The invention relates to the fields of rehabilitation medicine, toys, and military applications, in particular to an all-terrain walker and a control method thereof. Background technique [0002] Nowadays, robot technology is a research hotspot all over the world, especially the research of passive walking robot is the cutting-edge technology in this field. At present, good results have been achieved in the research of passive walking robots at home and abroad, and a very representative physical prototype prototype has also been developed. For example (1) a 2D passive walking robot "Ranger" developed by Cornell University solves the problem of walking and wiping the ground by cleverly rotating the ankle joint. 2) Although the ASIMO of Japan HONDA company has a complete humanoid form, the fully active robot consumes a lot of energy and is not suitable for practical applications; (3) Delft University in the Netherlands has developed a variety of passive...

AI Technical Summary

Problems solved by technology

For example (1) a 2D passive walking robot "Ranger" developed by Cornell University solves the problem of walking and wiping the ground by cleverly rotating the ankle joint. 2) Although the ASIMO of Japan HONDA company has a complete humanoid form, the fully active robot consumes a lot of energy and is not suitable for practical applications; (3) Delft University in the Netherlands has developed a variety of passive walking models since 2002. Robot, the semi-passive walking robot Mike (2002) introduced in the article "Adding an upper body to passive dynamic walking robots by means of a bisecting hip mechanism", has a complex self-locking structure on the knee joints of its legs, the largest of which The problem is that the design of the knee joint of the leg is complex

Images