CN104512493B - 一种齿轮传动对分上体节能被动行走装置的控制方法 - Google Patents
一种齿轮传动对分上体节能被动行走装置的控制方法 Download PDFInfo
- Publication number
- CN104512493B CN104512493B CN201410766404.1A CN201410766404A CN104512493B CN 104512493 B CN104512493 B CN 104512493B CN 201410766404 A CN201410766404 A CN 201410766404A CN 104512493 B CN104512493 B CN 104512493B
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- China
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- upper body
- leg
- umbrella tooth
- hip
- lower limb
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 9
- 238000000034 method Methods 0.000 title claims description 20
- 210000002414 leg Anatomy 0.000 claims abstract description 75
- 210000003127 knee Anatomy 0.000 claims abstract description 3
- 210000003141 lower extremity Anatomy 0.000 claims description 33
- 210000003423 ankle Anatomy 0.000 claims description 17
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 15
- 210000000629 knee joint Anatomy 0.000 claims description 14
- 210000000689 upper leg Anatomy 0.000 claims description 12
- 210000002683 foot Anatomy 0.000 claims description 9
- 238000004134 energy conservation Methods 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 3
- 230000002146 bilateral effect Effects 0.000 abstract 1
- 230000005021 gait Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 241001272996 Polyphylla fullo Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201410766404.1A CN104512493B (zh) | 2014-12-12 | 2014-12-12 | 一种齿轮传动对分上体节能被动行走装置的控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410766404.1A CN104512493B (zh) | 2014-12-12 | 2014-12-12 | 一种齿轮传动对分上体节能被动行走装置的控制方法 |
Publications (2)
Publication Number | Publication Date |
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CN104512493A CN104512493A (zh) | 2015-04-15 |
CN104512493B true CN104512493B (zh) | 2017-01-11 |
Family
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CN201410766404.1A Expired - Fee Related CN104512493B (zh) | 2014-12-12 | 2014-12-12 | 一种齿轮传动对分上体节能被动行走装置的控制方法 |
Country Status (1)
Country | Link |
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CN (1) | CN104512493B (zh) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104973159B (zh) * | 2015-06-29 | 2017-07-25 | 重庆邮电大学 | 一种窄足3d纯被动行走器 |
CN105015642B (zh) * | 2015-07-21 | 2017-03-08 | 重庆邮电大学 | 由单电机驱动的半被动行走器及其转向控制方法 |
CN105691482A (zh) * | 2015-12-31 | 2016-06-22 | 重庆楠婧琳科技开发有限公司 | 机器人 |
CN105730551B (zh) * | 2016-04-20 | 2017-11-24 | 深圳市行者机器人技术有限公司 | 一种半被动双足对分上体行走装置 |
CN110667730B (zh) * | 2019-11-11 | 2021-08-27 | 路邦科技授权有限公司 | 一种仿生机器人的腿部行走控制系统 |
CN112497196B (zh) * | 2020-12-24 | 2022-04-19 | 迈宝智能科技(苏州)有限公司 | 一种外骨骼机器人电气系统 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5158493A (en) * | 1991-05-30 | 1992-10-27 | Richard Morgrey | Remote controlled, multi-legged, walking robot |
JP2957881B2 (ja) * | 1994-02-21 | 1999-10-06 | 株式会社タカラ | 2足歩行ロボット |
CN100436237C (zh) * | 2006-07-10 | 2008-11-26 | 东北大学 | 一种拟人双足机器人人工腿 |
CN101121424B (zh) * | 2007-09-07 | 2011-02-23 | 哈尔滨工程大学 | 多自由度的双足机器人下肢机构 |
CN201189398Y (zh) * | 2008-04-19 | 2009-02-04 | 陈晓铓 | 一种玩具机器人结构 |
CN101391417B (zh) * | 2008-11-03 | 2010-06-09 | 北京大学 | 一种基于被动运动方式的双足类人机器人 |
CN201504053U (zh) * | 2009-10-13 | 2010-06-09 | 中国科学院沈阳自动化研究所 | 可变距的轮臂复合巡检机器人机构 |
CN103707952B (zh) * | 2014-01-13 | 2016-01-20 | 重庆邮电大学 | 窄足被动行走装置及其控制方法 |
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2014
- 2014-12-12 CN CN201410766404.1A patent/CN104512493B/zh not_active Expired - Fee Related
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CN104512493A (zh) | 2015-04-15 |
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Inventor after: Diao Jian Inventor after: Li Qingdu Inventor after: Wang Ping Inventor after: Li Yong Inventor after: Tang Jun Inventor before: Li Qingdu Inventor before: Wang Ping Inventor before: Diao Jian Inventor before: Li Yong Inventor before: Tang Jun |
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Inventor after: Li Qingdu Inventor after: Diao Jian Inventor after: Wang Ping Inventor after: Li Yong Inventor after: Tang Jun Inventor before: Diao Jian Inventor before: Li Qingdu Inventor before: Wang Ping Inventor before: Li Yong Inventor before: Tang Jun |
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Effective date of registration: 20210104 Address after: 518000 Nanshan Software Park B1303, 10128 Shennan Avenue, Liancheng community, Nantou street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN XINGZHE ROBOT TECHNOLOGY Co.,Ltd. Address before: 400065 Chongqing Nan'an District huangjuezhen pass Chongwen Road No. 2 Patentee before: CHONGQING University OF POSTS AND TELECOMMUNICATIONS |
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Effective date of registration: 20210125 Address after: 400065 No.2 Chongwen Road, Nanshan street, huangjueya, Nan'an District, Chongqing Patentee after: CHONGQING University OF POSTS AND TELECOMMUNICATIONS Address before: 518000 Nanshan Software Park B1303, 10128 Shennan Avenue, Liancheng community, Nantou street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN XINGZHE ROBOT TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20210129 Address after: 401120 9-16, building 11, Guobin City, No.18, Xinji Avenue, Longxi street, Yubei District, Chongqing Patentee after: Chongqing Hengdao Intellectual Property Agency Co.,Ltd. Address before: 400065 No.2 Chongwen Road, Nanshan street, huangjueya, Nan'an District, Chongqing Patentee before: CHONGQING University OF POSTS AND TELECOMMUNICATIONS |
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Effective date of registration: 20210610 Address after: 200000 2 / F, building 6, 128 Xiangyin Road, Yangpu District, Shanghai Patentee after: Shanghai zhuoyide robot Co.,Ltd. Address before: 401120 9-16, building 11, Guobin City, No.18, Xinji Avenue, Longxi street, Yubei District, Chongqing Patentee before: Chongqing Hengdao Intellectual Property Agency Co.,Ltd. |
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