Bionic biped robot and stable gait planning method thereof

Abstract

The invention provides a bionic biped robot and a stable gait planning method thereof. The robot is composed of an electromechanical control box, two mechanical legs with three degrees of freedom and a joint yaw assembly. The joint yaw assembly controls steering motion of the robot. Each mechanical leg comprises a thigh part, a shank part and a buffer hoof foot; the thigh part adopts a quadrilateral serial mechanism, and a hip joint rolling motor, a hip joint pitching motor and a knee joint pitching motor are arranged at the hip joint; the shank adopts a light carbon fiber structure and is passively controlled; the buffering hoof foot is designed by referring to the characteristics of hoof walking type biological feet. And the robot is simplified into a spring-load inverted pendulum model for kinetic analysis and gait planning, the gait stability is evaluated by adopting a method of combining a Poincare cross section and attraction domain characteristics, the optimal parameters of the stable gait are obtained, and the robustness of the robot in the motion state is ensured. The robot has the characteristics of flexible walking, quick response, high efficiency and energy conservation.

Description

technical field [0001] The invention belongs to the field of bipedal robots, and particularly relates to a bionic bipedal robot and a stable gait planning method thereof. Background technique [0002] All terrestrial higher animals in nature share three main hindlimb walking styles: plantar walking (walking on the soles of the feet), toe walking (walking on the toes), and hoof walking (walking on the toenails). [0003] Plantar walking is walking with the soles of the feet. This way of walking requires the metatarsal bones to touch the ground and become flat soles of the feet. When walking, the phalanges, metatarsal bones, and tarsus will contact the ground in turn. Humans, monkeys, orangutans, bears, rabbits, red pandas, and rodents such as rats and mice all walk in this way. In this way of walking, there are too many parts in the contact part of the foot and the ground, and the load on the distal end of the appendage is too heavy, resulting in a large resistance during wa...

AI Technical Summary

Problems solved by technology

[0009] Aiming at the deficiencies of the prior art, the present invention provides a bionic biped robot and its stable gait planning method; it makes up for the vacancy of the prior art, and has better power output, faster movement speed, and lighter structure At the same time, the spring inverted pendulum model is used to simulate its motion state to avoid the problem of poor stability; at the same time, based on the Poincaré map and combined with the characteristics of the attraction domain, the "limit cycle walking" periodic walking gait stability evaluation model is designed to ensure Robustness in its motion state

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