CN108438082B - Two-dimensional robot walking device and control method thereof - Google Patents
Two-dimensional robot walking device and control method thereof Download PDFInfo
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- CN108438082B CN108438082B CN201810220883.5A CN201810220883A CN108438082B CN 108438082 B CN108438082 B CN 108438082B CN 201810220883 A CN201810220883 A CN 201810220883A CN 108438082 B CN108438082 B CN 108438082B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000003287 optical effect Effects 0.000 claims abstract description 36
- 230000008878 coupling Effects 0.000 claims description 14
- 238000010168 coupling process Methods 0.000 claims description 14
- 238000005859 coupling reaction Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 abstract description 9
- 230000007547 defect Effects 0.000 abstract description 3
- 230000005021 gait Effects 0.000 description 7
- 230000000737 periodic effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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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
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention relates to a two-dimensional robot walking device and a control method thereof, wherein the walking device comprises: the pair of inner swing legs are symmetrically fixed at two ends of the bottom of the supporting plate; 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; the motor is provided with a rotating shaft; 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 the rotating shaft of the corresponding motor, and the transverse end part of the second T-shaped coupler is rotatably connected with the second fixed optical axis. The two-dimensional robot walking device is simple in structure and good in stability, the control method can overcome the defect of floor mopping of feet, and energy consumption of a walking device is reduced.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a two-dimensional robot walking device and a control method thereof.
Background
The biped robot technology promotes the scientific and technological development, can finish the walking task in a complex environment, and has important research significance. The traditional robot is controlled based on the ZMP technology, the whole body joints need to be driven in real time in the walking process, the gait is unnatural, and the energy consumption is high. McGeer proposes a passive walking theory, has inherent stability and lower energy consumption, and the robot designed by using the passive walking theory has longer working time, larger moving range and longer service life.
The under-actuated robot in the prior art has a complex structure and high energy consumption.
Disclosure of Invention
The invention provides a two-dimensional robot walking device and a control method thereof, which solve or partially solve the technical problems of more complex structure and higher energy consumption of an under-actuated robot in the prior art.
The invention provides a two-dimensional robot walking device, which comprises: the pair of internal swing leg, a pair of leg, push rod motor, backup pad, 2 motors, 2 first T type shaft couplings and 2 second T type shaft couplings of shaking outward, wherein:
the pair of inner swing legs are symmetrically fixed at two ends of the bottom of the supporting plate;
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;
the motor is provided with a rotating shaft;
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 first foot part for contacting the ground.
Preferably, the bottom end of the outer rocker leg is provided with a second foot part for contacting the ground.
Preferably, the device also comprises an integrated control unit arranged on the supporting plate;
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 first fixed optical axis is arranged at the top end of the outer rocking leg.
Based on the same inventive concept, the application also provides a control method of the two-dimensional robot walking device, which is used for controlling the two-dimensional robot walking device to walk continuously 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 by a set angle, the inner swing leg is lifted, the gravity center of the two-dimensional robot walking device tilts forwards, the two-dimensional robot walking device obtains the speed in the positive direction, 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 two-dimensional robot walking device which consists of a pair of inner swinging legs, a pair of outer swinging legs, a push rod motor, a supporting plate, 2 motors, 2 first T-shaped couplings and 2 second T-shaped couplings, the two-dimensional under-actuated walking of the two-dimensional robot 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 period walking gait and the second period walking gait is continuously repeated, and the two-dimensional under-actuated walking of the walking device is realized. Therefore, the technical problems of complex structure and high energy consumption of the under-actuated robot in the prior art are effectively solved, two-dimensional under-actuated walking is realized, the structure is simple, the stability is good, the defect of wiping the ground by feet can be overcome, and the energy consumption of a walking device is reduced.
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 two-dimensional robot walking device 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.
(the parts represented by the reference numbers in the drawing are 1 inner swing leg, 2 outer swing leg, 3 first T-shaped coupling, 31 transverse end part, 32 long end part, 4 push rod motor, 5 support plate, 6 motor, 7 rotating shaft, 8 first fixed optical axis, 9 second fixed optical axis and 10 push shaft in sequence)
Detailed Description
The two-dimensional robot walking device and the control method thereof solve or partially solve the technical problems that an under-actuated robot in the prior art is complex in structure and 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 two-dimensional robot walking device comprises a pair of inner swing legs 1, a pair of outer swing legs 2, a push rod motor 4, a support plate 5, 2 motors 6, 2 first T-shaped couplings 3 and 2 second T-shaped couplings, wherein the inner swing legs 1 and the outer swing legs 2 are driven by the cooperation of the motors 6 and the push rod motor 4, so that the two-dimensional under-driven walking of the two-dimensional robot walking device is realized, in the walking process, when the outer swing legs 2 are support legs, the motors 6 drive the inner swing legs 1 to lift up and swing, so that the walking device moves forward to finish a first periodic walking gait, when the inner swing legs 1 are support legs, a push shaft 10 of the push rod motor 4 extends synchronously to lift the outer swing legs 2 off the ground, and simultaneously, the motors 6 drive the outer swing legs 2 to swing inward to the inner swing legs 1, so that the walking device continues to move forward to finish a second periodic walking gait, and the process of the first periodic walking is continuously repeated, the two-dimensional under-actuated walking device has the advantages of realizing two-dimensional under-actuated walking, having simple structure and good stability, overcoming the defect of wiping the ground by feet and reducing the energy consumption of the walking device.
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 pair of two-dimensional robot running gear, include: the pair of internal swing leg 1, a pair of leg 2, push rod motor 4, backup pad 5, 2 motors 6, 2 first T type shaft couplings 3 and 2 second T type shaft couplings of shaking outward, wherein:
referring to fig. 1 and 2, a pair of inner swing legs 1 are symmetrically fixed at two ends of the bottom of a support plate 5; referring to fig. 1 and 3, the outer rocker leg 2 is provided with a first fixed optical axis 8 and a second fixed optical axis 9, and the position of the first fixed optical axis 8 is higher than that of the second fixed optical axis 9; referring to fig. 1 and 5, two ends of the push rod motor 4 are symmetrically provided with push shafts 10 which perform mirror image synchronous action; referring to fig. 1 and 2, the motor 6 is provided with a rotating shaft 7; referring to fig. 1 and 4, the first T-shaped coupling 3 is identical in structure to the second T-shaped coupling, and includes: the optical axis measuring device comprises a long end part 32 and a transverse end part 31 vertically fixed with the long end part 32, wherein a through hole for accommodating the first fixed optical axis 8 or the second fixed optical axis 9 is arranged in the transverse end part 31.
The long end part 32 of the first T-shaped coupler 3 is fixedly connected with the push shaft 10 corresponding to the push rod motor 4, and the transverse end part 31 is rotatably connected with the first fixed optical axis 8; the long end part of the second T-shaped coupler is fixedly connected with a rotating shaft 7 of the corresponding motor 6, and the transverse end part of the second T-shaped coupler is rotatably connected with a second fixed optical axis 9.
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 swinging leg 1 is provided with a first foot part for contacting the ground. The bottom end of the outer swing leg 2 is provided with a second foot for contacting the ground. A first fixed optical axis 8 is provided at the top end of the outer rocker leg 2. The two motors 6 are horizontally arranged.
Further, the two-dimensional robot walking device also comprises a comprehensive control unit which is arranged on the supporting plate 5; 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 6 and the push rod motor 4, receives the attitude information and controls the motor 6 and the push rod motor 4 to act; the battery provides electrical power to the controller, sensor, motor 6 and push rod motor 4.
Based on the same inventive concept, the application also provides a control method of the two-dimensional robot walking device, which is used for controlling the two-dimensional robot walking device to walk continuously 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 5 is turned on and the device is started.
S2: the motor 6 rotates anticlockwise for a set angle, the inner swing leg 1 is lifted, the gravity center of the two-dimensional robot walking device tilts forwards, the two-dimensional robot 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 the ground, the two push shafts 10 of the push rod motor 4 contract synchronously, and the outer swing leg 2 is lifted to the outer side, 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 10 of the push rod motor 4 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 (7)
1. A two-dimensional robot walking device, comprising: the pair of internal swing leg, a pair of leg, push rod motor, backup pad, 2 motors, 2 first T type shaft couplings and 2 second T type shaft couplings of shaking outward, wherein:
the pair of inner swing legs are symmetrically fixed at two ends of the bottom of the supporting plate;
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;
the motor is provided with a rotating shaft;
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 two-dimensional robotic walker of claim 1 wherein the length of the outer rocker leg is greater than the length of the inner rocker leg.
3. The two-dimensional robot walking device of claim 1, wherein a bottom end of the inner swing leg is provided with a first foot for contacting the ground.
4. The two-dimensional robot walking apparatus of claim 1, wherein a bottom end of the outer rocking leg is provided with a second foot for contacting the ground.
5. The two-dimensional robot walking apparatus of claim 1, further comprising an integrated control unit provided on the support plate;
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. A two-dimensional robot walking device according to claim 1, wherein said first fixed optical axis is provided at a tip end of said outer rocking leg.
7. A control method of a two-dimensional robot walking apparatus for controlling the two-dimensional robot walking apparatus of claim 1 ~ 6 to walk continuously, 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 by a set angle, the inner swing leg is lifted, the gravity center of the two-dimensional robot walking device tilts forwards, the two-dimensional robot walking device obtains the speed in the positive direction, 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 |
|---|---|---|---|
| CN201810220883.5A CN108438082B (en) | 2018-03-16 | 2018-03-16 | Two-dimensional robot walking device and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810220883.5A CN108438082B (en) | 2018-03-16 | 2018-03-16 | Two-dimensional robot walking device and control method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN108438082A CN108438082A (en) | 2018-08-24 |
| CN108438082B true CN108438082B (en) | 2019-12-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810220883.5A Expired - Fee Related CN108438082B (en) | 2018-03-16 | 2018-03-16 | Two-dimensional robot walking device and control method thereof |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111301550B (en) * | 2019-11-28 | 2021-07-13 | 江汉大学 | Wheel foot structure of mobile robot and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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