Humanoid biped robot

Abstract

The invention discloses a humanoid biped robot. The humanoid biped robot comprises thigh structures and two-degree-of-freedom quasi-man hip joint structures, wherein each thigh structure comprises a lightweight knee joint having large torque output, and each hip joint structure has large torque output. The lightweight knee joints are designed in the thigh structures, alternating-current servo electric push rods are designed and mounted in the thigh structures, large-torque-output single-degree-of-freedom movement of the lightweight knee joints is realized through transmission of crank-link mechanisms, the mass, centroid and rotational inertia of the thigh structures can be adjusted through adjustment of thigh counterweight units, and corresponding artificial shanks can be selected to be connected with the knee joints of the thigh structures according to experiment needs; the two-degree-of-freedom movement of the hip joint structures is realized through large-torque alternating-currentservo motors, the synchronous belt drive and parallel two-degree-of-freedom structures, and counterweights can be added to the hip joint structures to adjust the mass, centroid and rotational inertiaof the humanoid biped robot. The humanoid biped robot can be applied to relevant human gait research, detection and development of electromechanical lower limb products, and the like.

Description

technical field [0001] The invention belongs to the field of biped robots, in particular to a humanoid biped robot. Background technique [0002] Biped robot technology is a high-tech integrated with the latest research results of computer, modern cybernetics, artificial intelligence, mechanism kinematics and dynamics sensor technology, bionics, etc. It is also very active and widely used in contemporary scientific research. one of the fields. Research on biped robots has gone through a long process of development. Now there are various types of biped robots at home and abroad, such as Japan's Honda ASIMO robot, Boston biped robot Altas, biped robot Cassie, Tsinghua University biped robot THBIP, etc. [0003] At present, most biped robots have a common feature. The main focus is the smooth motion of the robot. The gait motion is relatively fixed. The driving force of the hip joint and knee joint is relatively small, which is different from the real gait motion of the human ...

AI Technical Summary

Problems solved by technology

[0003] At present, most biped robots have a common feature. The main focus is the smooth motion of the robot. The gait motion is relatively fixed. The driving force of the hip joint and knee joint is relatively small, which is different from the real gait motion of the human body. There is a large difference in comparison, and it is difficult to combine with the gait research of the human body

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