Novel semi-passive walking barrier crossing device and control method thereof

Abstract

The invention discloses a novel semi-passive walking barrier crossing device and a control method thereof. The novel semi-passive walking barrier crossing device comprises a walking mechanism, a driving device used for driving the walking mechanism to walk, a data collecting device used for collecting walking data of the walking mechanism, and a main control device used for providing a real-time walking scheme for the walking mechanism. According to the novel semi-passive walking barrier crossing device, a leg is connected with a ball screw nut, so that movement of the leg and movement of the nut on a lead screw are made to be synchronous, namely telescoping of the leg in the barrier crossing process is achieved. The problem of complex control after a knee joint is additionally arranged is solved, and the purpose of barrier crossing can be achieved through a simple leg telescoping device. The novel semi-passive walking barrier crossing device has the advantages of being simple in structure, easy to operate and stable in walking and can be widely applied to the fields such as rescue, toys and medical treatment.

Description

technical field [0001] The invention belongs to the field of robot walking, and in particular relates to a novel semi-passive walker barrier-crossing structure and a control method thereof. Background technique [0002] At present, the research of robots is a hot spot all over the world. 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 to address complex control issues after adding knee joints, and the structure is relatively complex, and the mass of the legs is relatively high, resulting in high energy con...

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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 to address complex control issues after adding knee joints, and the structure is relatively complex, and the mass of the legs is relatively high, resulting in high energy consumption; in addition, these passive walking models are driven by multiple motors, which is difficult to control , poor stability and robustness

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