Semi-passive walking device driven by single motor and its steering control method

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...

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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