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Semi-passive walking device and control method thereof

A walking device and semi-passive technology, applied in the field of rehabilitation medicine, can solve the problems of complex design of leg knee joints, unsuitable for practical application, complex self-locking structure, etc., and achieve the effects of flexible legs, stable walking, and exquisite design.

Active Publication Date: 2018-06-29
中原动力智能机器人有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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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, and the biggest problem with this structure It is the complex design of the knee joint of the leg

Method used

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  • Semi-passive walking device and control method thereof
  • Semi-passive walking device and control method thereof
  • Semi-passive walking device and control method thereof

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Embodiment Construction

[0030] A non-limiting embodiment is given below in conjunction with the accompanying drawings to further illustrate the present invention. It should be understood, however, that these descriptions are exemplary only, and are not intended to limit the scope of the invention. Also, in the following description, descriptions of well-known structures and techniques are omitted so as not to obscure the concept of the present invention.

[0031] Such as figure 1 , figure 2 , image 3 with Figure 4 As shown, for the semi-passive walking device of the present invention, it is a quadruped walking device, including a running gear, a driving device 3 for driving the running gear to walk, a data acquisition device 4 for collecting walking data of the running gear, and providing for walking The main control device 5 of the real-time walking scheme, the walking mechanism includes a leg 1 and a hip 2, and the hip 2 includes a support plate 2-1, a connecting rod 2-2, a linear bearing A2...

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Abstract

The invention discloses a semi-passive walking device and a control method thereof. The device comprises a walking mechanism, a driving device used for driving the walking mechanism to walk, a data collection device used for collecting walking data of the walking mechanism, and a master control device for providing a real-time walking scheme for walking. The problem that swing legs and feet make friction with the ground is solved through vertical movement of a lead screw; meanwhile, the driving device provides power for the walking device through multiple motors, a synchronous pulley mechanism drives inner and outer legs to swing, and therefore waking is achieved. The semi-passive walking device has the advantages of being simple in structure, elaborate in design and stable in walking, and can be widely applied in the fields of industry, rescuing, toys, medical treatment and the like.

Description

technical field [0001] The invention relates to the fields of rehabilitation medicine, toys and military applications, in particular to a semi-passive walking device 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 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 李清都延明珠杨芳艳周雪卿冷洁周园朱朋唐春茂
Owner 中原动力智能机器人有限公司
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