Two-feet walking robot having hip joint adopted with two-ball shape gear for 7-freedom legs

Abstract

A two-foot walking robot with 7-freedom legs and dual-spherical hip joint features that its hip joint with dual-spherical structure has 3 freedoms, its knee joint has one freedom, and its ankle joint has 3 freedoms. As a result, said robot has the waist bending function and said ankle joint has a rotary freedom.

Description

Technical field: [0001] The invention relates to the field of mechanical and electronic automation, and is a seven-degree-of-freedom leg mechanism of a humanoid robot, which is suitable for robot technology. Background technique: [0002] The development of humanoid walking robots is one of the ideals of human science and technology development, and has important academic value, potential application prospects and extensive social benefits. [0003] At present, the legs of humanoid robots mostly use six-degree-of-freedom mechanisms, such as figure 1 As shown, the ankle joint has 2 degrees of freedom, the knee joint has 1 degree of freedom, and the hip joint has 3 degrees of freedom. In order to improve the controllability of the center of gravity of the robot and avoid singularities, the humanoid robots generally adopting the mechanism configuration bend their knees to move forward. consumption. Adding lumbar joints can avoid knee bending and the resulting energy consumpt...

AI Technical Summary

Problems solved by technology

Adding lumbar joints can avoid knee bending and the resulting energy consumption problem, but adding joints will increase manufacturing costs

In addition, the traditional 6-DOF legged humanoid robot has a unique leg configuration and lacks flexibility after the foot touches the ground. In some special cases, especially when walking on irregular roads, it is difficult for the robot to achieve body balance.

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