CN108382486B - Tripodia under-actuated walking device and control method thereof - Google Patents
Tripodia under-actuated walking device and control method thereof Download PDFInfo
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- CN108382486B CN108382486B CN201810220884.XA CN201810220884A CN108382486B CN 108382486 B CN108382486 B CN 108382486B CN 201810220884 A CN201810220884 A CN 201810220884A CN 108382486 B CN108382486 B CN 108382486B
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- swing leg
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- 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
Abstract
The invention relates to a three-foot under-actuated walking device and a control method thereof, wherein the walking device comprises: the device comprises an inner swing leg, a pair of outer swing legs, a push rod motor, a motor, 2 first T-shaped couplers and 2 second T-shaped couplers, wherein the inner swing leg is fixed at the bottom of the motor; the outer rocking leg is provided with a first fixed optical axis and a second fixed optical axis; two ends of the push rod motor are symmetrically provided with push shafts which synchronously act in a mirror image manner; rotating shafts are symmetrically arranged at two ends of the motor; the long end part of the first T-shaped coupler is fixedly connected with a push shaft corresponding to the push rod motor, and the transverse end part of the first T-shaped coupler is rotatably connected with the first fixed optical axis; the long end part of the second T-shaped coupler is fixedly connected with a rotating shaft corresponding to the motor, and the transverse end part of the second T-shaped coupler is rotatably connected with the second fixed optical axis. The three-foot under-actuated walking device and the control method thereof realize two-dimensional under-actuated walking, have good stability, can overcome the defect of wiping the ground by feet, can fully utilize the dynamic walking process and reduce the energy consumption of the walking device.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a three-foot under-actuated walking device and a control method thereof.
Background
Since the passive walking theory is proposed, the active control method of the traditional robot is improved, and a series of semi-passive bionic robots appear. Based on the passive walking theory, the joint does not need to be driven and controlled in real time, so that the robot designed by the theory has the advantages of low energy consumption, wider moving range and longer service life.
The under-actuated robot in the prior art is mostly four-footed, and the energy consumption is increased on the basis of increasing the stability of the under-actuated robot.
Disclosure of Invention
The invention provides a three-foot under-actuated walking device and a control method thereof, which solve or partially solve the technical problem of high energy consumption of a four-foot under-actuated robot in the prior art.
The invention provides a three-foot under-actuated walking device, which comprises: an interior swing leg, a pair of leg, push rod motor, 2 first T type shaft couplings and 2 second T type shaft couplings of shaking outward, wherein:
the inner swing leg is fixed at the bottom of the motor;
the outer rocking leg is provided with a first fixed optical axis and a second fixed optical axis, and the position of the first fixed optical axis is higher than that of the second fixed optical axis;
two ends of the push rod motor are symmetrically provided with push shafts which synchronously act in a mirror image manner;
rotating shafts are symmetrically arranged at two ends of the motor;
the first T-shaped coupler is the same as the second T-shaped coupler in structure, and comprises: the optical axis measuring device comprises a long end part and a transverse end part vertically fixed with the long end part, wherein a through hole for accommodating the first fixed optical axis or the second fixed optical axis is formed in the transverse end part;
the long end part of the first T-shaped coupler is fixedly connected with the push shaft corresponding to the push rod motor, and the transverse end part of the first T-shaped coupler is rotatably connected with the first fixed optical axis;
the long end part of the second T-shaped coupler is fixedly connected with the rotating shaft corresponding to the motor, and the transverse end part of the second T-shaped coupler is rotatably connected with the second fixed optical axis.
Preferably, the length of the outer swing leg is greater than the length of the inner swing leg.
Preferably, the bottom end of the inner swing leg is provided with a cylindrical foot part for contacting the ground.
Preferably, the bottom end of the outer swing leg is provided with a foot part for contacting the ground.
Preferably, the swing-in leg device further comprises a comprehensive control unit arranged on the swing-in leg;
the integrated control unit includes: controller, sensor and battery, wherein:
the sensor acquires the posture information of the inner swing leg and the outer swing leg;
the controller is electrically connected with the sensor, the motor and the push rod motor, and receives the attitude information and controls the motor and the push rod motor to act;
the battery provides electrical energy to the controller, the sensor, the motor and the push rod motor.
Preferably, the swing leg device also comprises a supporting plate fixed at the top end of the swing leg;
the motor, the controller, the sensor and the battery are fixed on the supporting plate.
Preferably, the first fixed optical axis is arranged at the top end of the outer rocking leg.
Preferably, the motor is horizontally arranged, and the inner swing leg is vertically fixed below the motor.
Based on the same inventive concept, the application also provides a control method of the three-foot under-actuated walker, which is used for controlling the three-foot under-actuated walker to continuously walk and comprises the following steps:
s1: placing the inner swing leg and the outer swing leg in a crossed manner by 30 degrees, and setting the initial position direction of the inner swing leg as a positive direction;
s2: the motor rotates anticlockwise for a set angle, the inner swing leg is lifted, the gravity center of the three-foot under-actuated walking device tilts forward, the three-foot under-actuated walking device obtains the positive direction speed, and at the moment, the outer swing leg is a supporting leg;
s3: when the inner swing leg is turned over and contacts the ground, the two push shafts of the push rod motor contract synchronously to enable the outer swing leg to be lifted outwards, at the moment, the inner swing leg is a support leg, and the outer swing leg is a swing leg;
s4: the motor rotates clockwise to enable the outer swing leg to swing towards the inner swing leg;
s5: the two push shafts of the push rod motor synchronously extend to initial positions, the outer swing leg contacts the ground, at the moment, the supporting leg is switched to the outer swing leg, and the swing leg is switched to the inner swing leg;
s6: the motor rotates clockwise, and the inner swing leg swings and lifts;
s7: and repeating the steps S3-S6 in sequence to finish the continuous walking process.
One or more technical solutions provided in the present application have at least the following technical effects or advantages:
by adopting the three-foot under-actuated walking device which consists of an inner swing leg, a pair of outer swing legs, a push rod motor, a motor, 2 first T-shaped couplings and 2 second T-shaped couplings, the two-dimensional under-actuated walking of the three-foot under-actuated walking device is realized by cooperatively driving the inner swing leg and the outer swing leg through the motor and the push rod motor, in the walking process, when the outer leg is taken as a supporting leg, the motor drives the inner swinging leg to lift up and swing, so that the walking device moves forwards to finish a first cycle of walking gait, when the inner swing leg is a supporting leg, the push shaft of the push rod motor extends synchronously to lift the outer swing leg off the ground, meanwhile, the motor drives the external leg to swing inwards to make the walking device move forwards continuously to finish the second period of walking gait, thus, the process of the first cycle walking gait and the second cycle walking gait is repeated continuously, and the two-dimensional under-actuated walking of the walking device is realized. Therefore, the technical problem that the four-legged under-actuated robot in the prior art is high in energy consumption is effectively solved, two-dimensional under-actuated walking is realized, the two-dimensional under-actuated robot has good stability, the defect of wiping the ground by feet can be overcome, the dynamic walking process can be fully utilized, and the technical effect of reducing the energy consumption of a walking device is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention.
Fig. 1 is a schematic structural diagram of a tripodal under-actuated walker according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of the inner swing leg of FIG. 1;
FIG. 3 is a schematic structural view of the external swing leg of FIG. 1;
FIG. 4 is a schematic structural view of the first T-shaped coupling of FIG. 1;
fig. 5 is a schematic structural diagram of the push rod motor in fig. 1.
(in the figure, the parts represented by the reference numbers are 1 inner swing leg, 2 outer swing leg, 3 push rod motor, 31 push shaft, 4 first T-shaped coupling, 41 transverse end, 42 long end, 5 first fixed optical axis, 6 motor, 61 rotating shaft, 7 second T-shaped coupling, 8 second fixed optical axis, 9 support plate, 10 cylindrical foot and 11 foot in sequence)
Detailed Description
The three-foot under-actuated walking device and the control method thereof solve or partially solve the technical problem that a four-foot under-actuated robot in the prior art is high in energy consumption.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows:
referring to the attached figure 1, the three-foot under-actuated walking device comprises an inner swinging leg 1, a pair of outer swinging legs 2, a push rod motor 3, a motor 6, 2 first T-shaped couplings 4 and 2 second T-shaped couplings 7, wherein the motor 6 and the push rod motor 3 are cooperatively used for driving the inner swinging leg 1 and the outer swinging leg 2 to realize the two-dimensional under-actuated walking of the three-foot under-actuated walking device, in the walking process, when the outer swinging leg 2 is a supporting leg, the motor 6 drives the inner swinging leg 1 to lift up and swing, so that the walking device moves forwards to finish a first periodic walking gait, when the inner swinging leg 1 is a supporting leg, a push shaft 31 of the push rod motor 3 synchronously extends to lift the outer swinging leg 2 outwards, and simultaneously, the motor 6 drives the outer swinging leg 2 to swing inwards, so that the walking device continues to move forwards to finish a second periodic walking gait, thus the process of the first periodic walking cycle and the second periodic walking process is continuously repeated, the walking device can continuously walk, two-dimensional under-actuated walking is realized, the walking device has good stability, the defect of wiping the ground by feet can be overcome, the dynamic walking process can be fully utilized, and the technical effect of reducing the energy consumption of the walking device is achieved.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
The application provides a tripodia underactuated walking ware, includes: an interior swing leg 1, a pair of leg 2, push rod motor 3, motor 6, 2 first T type shaft couplings 4 and 2 second T type shaft couplings 7 of shaking outward, wherein:
referring to the attached fig. 1 and 2, the inner swing leg 1 is fixed at the bottom of the motor 6; referring to fig. 1 and 3, the outer rocker leg 2 is provided with a first fixed optical axis 5 and a second fixed optical axis 8, and the position of the first fixed optical axis 5 is higher than that of the second fixed optical axis 8; referring to fig. 1 and 5, two ends of the push rod motor 3 are symmetrically provided with push shafts 31 which perform mirror image synchronous action; rotating shafts 61 are symmetrically arranged at two ends of the motor 6; referring to fig. 4, the first T-shaped coupling 4 and the second T-shaped coupling 7 have the same structure, and include: the optical axis measuring device comprises a long end part 42 and a transverse end part 41 vertically fixed with the long end part 42, wherein a through hole for accommodating the first fixed optical axis 5 or the second fixed optical axis 8 is arranged in the transverse end part 41.
The long end part 42 of the first T-shaped coupler 4 is fixedly connected with the push shaft 31 corresponding to the push rod motor 3, and the transverse end part 41 is rotatably connected with the first fixed optical axis 5; the long end of the second T-shaped coupler 7 is fixedly connected with the rotating shaft 61 corresponding to the motor 6, and the transverse end is rotatably connected with the second fixed optical axis 8.
Wherein, the length of the outer swing leg 2 is longer than that of the inner swing leg 1. The bottom end of the inner swing leg 1 is provided with a cylindrical foot 10 for contacting the ground. The bottom end of the outer swing leg 2 is provided with a foot 11 for contacting the ground. A first fixed optical axis 5 is provided at the top end of the outer rocker leg 2. The motor 6 is horizontally arranged, and the inner swing leg 1 is vertically fixed below the motor 6.
Further, the three-foot under-actuated walking device also comprises a comprehensive control unit which is arranged on the inner swing leg 1; the integrated control unit includes: controller, sensor and battery, wherein: the sensor acquires the attitude information of the inner swing leg 1 and the outer swing leg 2; the controller is electrically connected with the sensor, the motor 6 and the push rod motor 3, receives the attitude information and controls the motor 6 and the push rod motor 3 to act; the battery provides electrical energy to the controller, sensor, motor 6 and push rod motor 3.
Further, the three-foot under-actuated walking device also comprises a supporting plate 9 which is fixed at the top end of the inner swinging leg 1; the motor 6, controller, sensor and battery are fixed on the support plate 9.
Based on the same inventive concept, the application also provides a control method of the three-foot under-actuated walker, which is used for controlling the three-foot under-actuated walker to continuously walk and comprises the following steps:
s1: the inner swing leg 1 and the outer swing leg 2 are placed in a crossed mode for 30 degrees, and the direction of the initial position of the inner swing leg 1 is set to be the positive direction; the power supply on the supporting plate 9 is turned on and the device is started.
S2: the motor 6 rotates counterclockwise by a set angle (viewed from the left side of fig. 1), the inner swing leg 1 is lifted, the gravity center of the three-foot under-actuated walking device tilts forward, the three-foot under-actuated walking device obtains the positive direction speed, and at the moment, the outer swing leg 2 is a supporting leg.
S3: the inner swing leg 1 is turned over and contacts with the ground, the two push shafts 31 of the push rod motor 3 contract synchronously, so that the outer swing leg 2 is lifted outwards, at the moment, the inner swing leg 1 is a supporting leg, and the outer swing leg 2 is a swing leg.
S4: the motor 6 rotates clockwise, so that the outer leg swing 2 swings inwards to swing the leg swing 1.
S5: two push shafts 31 of the push rod motor 3 synchronously extend to the initial position, the outer swing leg 2 contacts the ground, at the moment, the supporting leg is switched to the outer swing leg 2, and the swing leg is switched to the inner swing leg 1.
S6: the motor 6 rotates clockwise, and the inner swing leg 1 swings and lifts.
S7: and repeating the steps S3-S6 in sequence to finish the process of continuous walking.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A tripodal under-actuated walker characterized by comprising: an interior swing leg, a pair of leg, push rod motor, 2 first T type shaft couplings and 2 second T type shaft couplings of shaking outward, wherein:
the inner swing leg is fixed at the bottom of the motor;
the outer rocking leg is provided with a first fixed optical axis and a second fixed optical axis, and the position of the first fixed optical axis is higher than that of the second fixed optical axis;
two ends of the push rod motor are symmetrically provided with push shafts which synchronously act in a mirror image manner;
rotating shafts are symmetrically arranged at two ends of the motor;
the first T-shaped coupler is the same as the second T-shaped coupler in structure, and comprises: the optical axis measuring device comprises a long end part and a transverse end part vertically fixed with the long end part, wherein a through hole for accommodating the first fixed optical axis or the second fixed optical axis is formed in the transverse end part;
the long end part of the first T-shaped coupler is fixedly connected with the push shaft corresponding to the push rod motor, and the transverse end part of the first T-shaped coupler is rotatably connected with the first fixed optical axis;
the long end part of the second T-shaped coupler is fixedly connected with the rotating shaft corresponding to the motor, and the transverse end part of the second T-shaped coupler is rotatably connected with the second fixed optical axis.
2. The tripodal under-actuated walker of claim 1 wherein the length of the outer swing leg is greater than the length of the inner swing leg.
3. The tripodal under-actuated walker according to claim 1, wherein the bottom end of the inner swing leg is provided with a cylindrical foot portion for contacting the ground.
4. The tripodal under-actuated walker according to claim 1 wherein the bottom end of the outer swing leg is provided with a foot for contacting the ground.
5. The tripodal under-actuated walker according to claim 1, further comprising a comprehensive control unit provided on the inner swing leg;
the integrated control unit includes: controller, sensor and battery, wherein:
the sensor acquires the posture information of the inner swing leg and the outer swing leg;
the controller is electrically connected with the sensor, the motor and the push rod motor, and receives the attitude information and controls the motor and the push rod motor to act;
the battery provides electrical energy to the controller, the sensor, the motor and the push rod motor.
6. The tripodal under-actuated walker according to claim 5, further comprising a support plate fixed to a top end of the inner swing leg;
the motor, the controller, the sensor and the battery are fixed on the supporting plate.
7. The tripodal under-actuated walker according to claim 1 wherein the first fixed optical axis is disposed at the top end of the outer swing leg.
8. The tripodal under-actuated walker according to claim 1, wherein the motor is horizontally disposed, and the inner swing leg is vertically fixed below the motor.
9. A control method of a tripodal under-actuated walker, for controlling the tripodal under-actuated walker according to any one of claims 1 ~ 8 to continue walking, comprising the steps of:
s1: placing the inner swing leg and the outer swing leg in a crossed manner by 30 degrees, and setting the initial position direction of the inner swing leg as a positive direction;
s2: the motor rotates anticlockwise for a set angle, the inner swing leg is lifted, the gravity center of the three-foot under-actuated walking device tilts forward, the three-foot under-actuated walking device obtains the positive direction speed, and at the moment, the outer swing leg is a supporting leg;
s3: when the inner swing leg is turned over and contacts the ground, the two push shafts of the push rod motor contract synchronously to enable the outer swing leg to be lifted outwards, at the moment, the inner swing leg is a support leg, and the outer swing leg is a swing leg;
s4: the motor rotates clockwise to enable the outer swing leg to swing towards the inner swing leg;
s5: the two push shafts of the push rod motor synchronously extend to initial positions, the outer swing leg contacts the ground, at the moment, the supporting leg is switched to the outer swing leg, and the swing leg is switched to the inner swing leg;
s6: the motor rotates clockwise, and the inner swing leg swings and lifts;
and S7, repeating the steps S3 ~ S6 in sequence to finish the process of continuous walking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810220884.XA CN108382486B (en) | 2018-03-16 | 2018-03-16 | Tripodia under-actuated walking device and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810220884.XA CN108382486B (en) | 2018-03-16 | 2018-03-16 | Tripodia under-actuated walking device and control method thereof |
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| Publication Number | Publication Date |
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| CN108382486A CN108382486A (en) | 2018-08-10 |
| CN108382486B true CN108382486B (en) | 2019-12-24 |
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| CN201810220884.XA Active CN108382486B (en) | 2018-03-16 | 2018-03-16 | Tripodia under-actuated walking device and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109625116B (en) * | 2018-12-18 | 2020-12-15 | 江汉大学 | Semi-passive walking robot capable of doing knee bending movement and control method |
| CN111942495B (en) * | 2020-08-12 | 2021-06-08 | 常州大学 | Three-foot swinging advancing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5569885B2 (en) * | 2011-10-28 | 2014-08-13 | 学校法人加計学園 | Walking support functional electrical stimulation system with ankle joint drive |
| CN104973163B (en) * | 2015-07-21 | 2017-03-22 | 重庆邮电大学 | All-landform walking device and control method thereof |
| CN105799806B (en) * | 2016-03-18 | 2017-11-10 | 重庆邮电大学 | A kind of three-dimensional apery walking device and its control method |
| CN105905183B (en) * | 2016-05-13 | 2018-10-23 | 深圳市行者机器人技术有限公司 | To dividing upper body running gear |
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