Artificial skeleton and muscle structure of bionic humanoid robot and design method of artificial skeleton and muscle structure

A humanoid robot, artificial muscle technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as inability to integrate into human daily life, and achieve improved naturalness and range of motion, high rotational flexibility, and strong mechanical sense. Effect

Inactive Publication Date: 2019-11-26
SOUTH CHINA UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] According to the uncanny valley effect, if the bionic humanoid robot is not realistic enough, it will cause a serious sense of rejection to human beings, so it cannot be integrated into human daily life

Method used

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  • Artificial skeleton and muscle structure of bionic humanoid robot and design method of artificial skeleton and muscle structure
  • Artificial skeleton and muscle structure of bionic humanoid robot and design method of artificial skeleton and muscle structure
  • Artificial skeleton and muscle structure of bionic humanoid robot and design method of artificial skeleton and muscle structure

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Effect test

Embodiment

[0057] An artificial skeleton and muscle structure of a bionic humanoid robot, including an artificial skeleton, an artificial joint and an artificial muscle; the artificial joint is used to connect the bones in the artificial skeleton, and the artificial muscle is used to pull the artificial skeleton to cooperate with the artificial joint Set the degrees of freedom, so that the robot can make different actions.

[0058] Further, as figure 2 As shown, the artificial skeleton is divided into four parts: head, torso, arms and legs. The arms and legs are symmetrical along the center of the robot skeleton, and the arms and legs on one side are spliced ​​by multiple bones.

[0059] There are 3 large bones in the leg bones of the robot: femur 1, calf bone 2, and foot bone 3; among them, the human bone corresponding to femur 1 is the femur, and the human bone corresponding to calf bone 2 is the tibia, radius, and foot bone. 3 The corresponding human skeleton is the foot bone;

[...

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Abstract

The invention provides an artificial skeleton and a muscle structure of a bionic humanoid robot and a design method of the artificial skeleton and the muscle structure. The artificial skeleton and themuscle structure comprise an artificial skeleton, artificial joints and artificial muscles. The method comprises the following steps of firstly, according to a skeleton of normal human and an structure of an existing humanoid robot, selecting the key skeleton to form the artificial skeleton of the bionic humanoid robot; secondly, according to the designed artificial skeleton, arranging the artificial joints of the bionic humanoid robot; according to the constructed artificial skeleton and the movement requirements of the humanoid robot, configuring the corresponding degree of freedom of eachartificial joint of the bionic humanoid robot; configuring the position and function of the artificial muscles of the bionic humanoid robot; and according to the characteristics of the bionic humanoidrobot, designing the artificial skeleton, the artificial joints and the artificial muscles, and assembling the artificial skeleton and the muscle structure. According to the artificial skeleton and the muscle structure of the bionic humanoid robot and the design method of the artificial skeleton and the muscle structure, human skeleton and muscles are used as reference, so that the humanoid robotis more humanized.

Description

technical field [0001] The invention belongs to the field of humanoid robots, in particular to an artificial skeleton and muscle structure of a bionic humanoid robot and a design method thereof. Background technique [0002] Bionic robots refer to robots that imitate living things and work on biological characteristics. Biomimetic robot is an advanced stage of robot development, and biological characteristics provide many useful references for robot design, so that robots can learn a series of good properties such as adaptability, robustness, motion diversity and activity from organisms. . [0003] Humanoid robots have the appearance characteristics of human beings, and have a certain degree of movement, perception, operation, learning, associative memory, emotional communication and other functions. Humanoid robots appear in a form similar to humans and are easily accepted by humans. Humanoid robots have a bipedal system, which has the potential to walk on rough roads, c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/10B25J17/00
CPCB25J9/0006B25J9/1075B25J17/00
Inventor 杜广龙
Owner SOUTH CHINA UNIV OF TECH
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