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Semi-passive walker driven by single motor and steering control method thereof

A single-motor-driven, walker technology, used in motor vehicles, transportation and packaging, can solve problems such as poor stability and robustness, difficult control, and large leg mass, reducing joint connection and control, reducing Low energy consumption and low leg mass

Active Publication Date: 2015-11-04
上海卓益得机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

As a way of moving robots, humanoid walking occupies an important aspect in robot research; in this field, many scholars in the world have put forward their own ideas and produced related prototypes. Most of them are active control, such as Japan's ASIMO, but because of its high energy consumption, the principle of passive walking has been proposed and applied to robot walking, including the robot LEO of the University of Delft, the robot MABEL of the University of Michigan, etc.; Walking models are inevitably designed with the problem of swinging legs to wipe the ground, and the structure is relatively complex, and the mass of the legs is relatively high, so that the energy consumption is still high; in addition, these passive walking models are driven by multiple motors, which is difficult to control and stable. poor performance and robustness

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  • Semi-passive walker driven by single motor and steering control method thereof

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Embodiment Construction

[0045] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings; it should be understood that the preferred embodiments are only for illustrating the present invention, rather than limiting the protection scope of the present invention.

[0046] like figure 1 , 2, shown in 3, the semi-passive walking device driven by a single motor includes a traveling mechanism, a driving device for driving the traveling mechanism to walk, a steering device 7 for the steering of the walking device, and a data acquisition device for collecting walking data of the traveling mechanism 5 and a main control device 6 for providing a real-time walking scheme for the walking mechanism; the walking mechanism includes legs 2 and hips 1; the legs include inner legs 21 formed by two long straight legs and two long straight legs Outer leg 22 that leg is formed; Described inner leg and outer leg are connected by crankshaft 3, and de...

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Abstract

The invention discloses a semi-passive walker driven by a single motor and a steering control method of the semi-passive walker. The semi-passive walker comprises a walking mechanism, a drive device used for driving the walking mechanism to walk, a steering device used for steering the walker, a data acquisition device used for collecting walking data of the walking mechanism and a main control device used for providing real-time walking schemes for the walking mechanism. By applying the semi-passive walker driven by the single motor and the steering control method of the semi-passive walker, the problem that swinging legs frict with the ground is solved, the drive device is driven by the single motor to provide power for the walking of the walker, a crankshaft is rotated by a synchronous belt wheel mechanism to drive rockers to swing, so that walking is realized. Inner legs are also twisted when being in contact with the ground through a multi-link mechanism, so that the purpose of steering is realized according to the design of arc-shaped soles. The semi-passive walker has the advantage of simple structure, simple operation, stable walking, small leg mass and low energy consumption, and can be widely applied to the fields of rescue, toys, medical treatment and the like.

Description

technical field [0001] The invention belongs to the field of passive walking robots, in particular to a semi-passive walking device driven by a single motor and a steering control method thereof. Background technique [0002] Research enthusiasm in robotics has been going on for a long time all over the world, and it is still unabated today. As a way of moving robots, humanoid walking occupies an important aspect in robot research; in this field, many scholars in the world have put forward their own ideas and produced related prototypes. Most of them are active control, such as Japan's ASIMO, but because of its high energy consumption, the principle of passive walking has been proposed and applied to robot walking, including the robot LEO of the University of Delft, the robot MABEL of the University of Michigan, etc.; Walking models are inevitably designed with the problem of swinging legs to wipe the ground, and the structure is relatively complex, and the mass of the legs...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 李清都樊锁钟刘国栋杨芳艳金雪亮蔡浩唐俊李永刁建胡文亚
Owner 上海卓益得机器人有限公司
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