CN111516773A - Reconfigurable biped robot with multiple motion modes - Google Patents
Reconfigurable biped robot with multiple motion modes Download PDFInfo
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- CN111516773A CN111516773A CN202010255320.7A CN202010255320A CN111516773A CN 111516773 A CN111516773 A CN 111516773A CN 202010255320 A CN202010255320 A CN 202010255320A CN 111516773 A CN111516773 A CN 111516773A
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- hip
- component
- toe
- biped robot
- revolute pair
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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 discloses a reconfigurable biped robot with multiple motion modes, which is of a bilateral symmetry structure and comprises a trunk part, a left hip, a right hip, a left leg and a right leg, wherein the trunk part is rotatably connected with the left hip and the right hip which are symmetrically arranged at two sides of the trunk part, and the left leg and the right leg are respectively rotatably connected with the left hip and the right hip; the left leg comprises a thigh part, a shank part, a flexible shock absorption part, a sole part, a toe part, a balance connecting rod part, a driving wheel part and a driven wheel part, the left hip part and the right hip part are identical in structure, and the left leg and the right leg are identical in structure. By changing the driving joints and changing the robot configuration, the switching of the motion modes of the biped robot is realized, and the efficient driving of the legged robot under different scenes and different functional requirements is realized.
Description
Technical Field
The invention relates to the field of foot robots, in particular to a reconfigurable biped robot with multiple motion modes.
Background
Compared with a wheel type robot, the foot type robot has remarkable advantages in terrain adaptability, and can realize actions of going up and down stairs, crossing gullies, avoiding obstacles and the like. Therefore, the foot type robot has great application prospect in the scenes of field exploration, post-disaster rescue, material transportation and the like. However, wheeled robots have great advantages in terms of energy utilization rate, speed and the like, and how to combine the advantages of two robots to design a reconfigurable biped robot with good terrain adaptability, high speed and high energy utilization rate becomes a hot research direction of the biped robot at present.
Disclosure of Invention
The invention provides a reconfigurable biped robot with multiple motion modes, which aims at the problems of low speed, low energy utilization rate and the like of the conventional biped robot.
The purpose of the invention is realized by the following technical scheme:
a reconfigurable biped robot with multiple motion modes is a bilateral symmetry structure and comprises a trunk part, a left hip part, a right hip part, a left leg and a right leg, wherein the trunk part is rotatably connected with the left hip part and the right hip part which are symmetrically arranged at two sides of the trunk part, and the left leg and the right leg are respectively rotatably connected with the left hip part and the right hip part;
the left leg comprises a thigh part, a shank part, a flexible shock absorption part, a sole part, a toe part, a balance connecting rod part, a driving wheel part and a driven wheel part;
one end of the thigh component is connected with the left hip through a revolute pair, the other end of the thigh component is connected with one end of the shank component through a revolute pair, the other end of the shank component is connected with the middle of the sole component through a revolute pair, one end of the sole component is connected with the middle of the toe component through a revolute pair, the other end of the sole component is connected with one end of the balance connecting rod component through a revolute pair, the driving wheel component is connected with the other end of the balance connecting rod component through a revolute pair, and the driven wheel component is connected with one end of the toe component through a revolut;
the flexible shock absorption part is connected between the thigh part and the sole part;
the left hip and the right hip are identical in structure, and the left leg and the right leg are identical in structure.
The biped robot is in a biped motion mode when the toe component is grounded and the driving wheel component and the driven wheel component are separated from the ground by adjusting a driving joint for driving the biped robot; and when the driving wheel component and the driven wheel component are grounded and the toe component is separated from the ground, the mode of wheel type motion is adopted.
Furthermore, the flexible shock absorption part comprises a thigh upper end connecting rod part, an elastic part and a sole connecting rod part which are sequentially connected.
Furthermore, the biped robot further comprises a toe lower end connecting rod component and a toe upper end connecting rod component, wherein one end of the toe lower end connecting rod component is connected with the other end of the toe component through a revolute pair, one end of the toe upper end connecting rod component is connected with the sole component through a revolute pair, and the other end of the toe lower end connecting rod component is connected with the other end of the toe upper end connecting rod component through a revolute pair, so that a connecting rod mechanism for adjusting the driven wheel component is formed.
Further, the left hip comprises a hip vertical rotating rod, a hip horizontal rotating component and a hip fixing component, the trunk component is connected with the hip vertical rotating rod through a rotating pair, the hip vertical rotating rod is connected with the hip horizontal rotating component through the rotating pair, the hip fixing component is rigidly connected with the hip horizontal rotating component, and the trunk component realizes rolling and deflection through the hip vertical rotating rod and the hip horizontal rotating component.
The invention has the following beneficial effects:
the biped robot designed by the invention can select a wheel type or foot type motion mode according to the external situation, improves the adaptability and speed of the robot to the terrain, combines the advantages of the biped robot and the wheel type robot, and has strong environment adaptability and high working efficiency.
Drawings
FIG. 1 is a schematic view of a biped robot foot-type motion pattern;
FIG. 2 is a schematic view of a wheeled motion pattern of the biped robot;
FIG. 3 is a schematic view of a biped robot leg mechanism;
in the figure, a torso part 1, a hip vertical rotation rod 2, a hip horizontal rotation part 3, a hip fixing part 4, a thigh part 5, a lower leg part 6, an upper thigh link part 7, a flexible part 8, a lower thigh link part 9, a sole part 10, a toe part 11, a balance link part 12, a lower toe link part 13, an upper toe link part 14, a driving wheel part 15, and a driven wheel part 16.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the objects and effects of the present invention will become more apparent, and the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the reconfigurable biped robot with multiple motion modes of the invention comprises a trunk part 1, a hip vertical rotation rod 2, a hip horizontal rotation part 3, a hip fixing part 4, a thigh part 5, a shank part 6, an upper thigh link part 7, a flexible part 8, a lower thigh link part 9, a sole part 10, a toe part 11, a balance link part 12, a lower toe link part 13, an upper toe link part 14, a driving wheel part 15 and a driven wheel part 16.
As shown in fig. 1 to 3, the hip vertical rotation rod 2 is connected to the body member 1 and the hip horizontal rotation member 3 through rotation pairs with mutually perpendicular axes to form a universal joint hinge providing the biped robot with freedom of rotation around the z-axis and the y-axis，By driving the gimbal hinges, proper rotation of hip fixing element 4 about the z-axis and y-axis relative to torso part 1 is achieved. The hip fixing component 4 is fixed on the hip horizontal rotating component 3 and passes through the revolute pair and the thigh component 5Connected to provide the biped robot with freedom to rotate around the x-axis. By driving the revolute pair, the thigh member 5 can be appropriately rotated about the x-axis, the y-axis, and the z-axis with respect to the torso member 1. Not limited to this connection, the same advantageous effects can be obtained by connecting the torso member 1 and the thigh member 5 by the ball pair.
The thigh part 5, the shank part 6, the upper thigh link part 7, the lower thigh link part 9 and the sole part 10 are connected with each other through the revolute pair, and two ends of the flexible part 8 are respectively fixedly connected with the upper thigh link part 7 and the lower thigh link part 9, so that the six rod pieces form a flexible planar multi-rod mechanism. The planar multi-link mechanism can not only improve the structural rigidity of the biped robot, but also reduce the impact force between the tail end of the biped robot and the ground by introducing the flexible component, and can store certain energy to play the roles of vibration reduction and energy utilization rate improvement. The walking task of the biped robot can be achieved by driving the rotary joints between the hip fixing part 4 and the thigh part 5 and between the thigh part 5 and the shank part 6, as shown in fig. 3. Not limited to this connection, using a single flexible rodDirect connectionSimilar gain effects can be achieved by connecting thigh member 5 and sole member 10.
By properly driving the driving joints of the biped robot, the biped robot can be switched between a biped motion mode and a wheel type motion mode. The two ends of the balance connecting rod part 12 are respectively connected with the sole part 10 and the driving wheel part 15 through revolute pairs, and under a double-foot motion mode, static balance and dynamic balance of the robot can be realized by actively controlling the swing angle, speed and acceleration of the balance connecting rod part 12 and the rotating speed of the driving wheel part 15; under the wheel type movement mode, the effects of shock absorption, obstacle avoidance and the like can be realized through the active control on the balance connecting rod part 12.
The ball member 10, the toe member 11, the lower toe link member 13 and the upper toe link member 14 are connected to each other through a revolute pair to form a planar four-bar mechanism, and the other end of the toe member 11 is connected to the driven wheel member 16 through a revolute pair to allow the driven wheel member 16 to freely rotate. As shown in fig. 3, in the bipedal movement mode, the planar four-bar mechanism can move the toe part 11 upwards, so that the rotational inertia of the bipedal robot is reduced and the movement performance of the bipedal robot is improved under the condition that the bipedal robot is suitable for different terrains; in the wheel type motion mode, the position of the driven wheel component 16 can be adjusted through the motion of the four-bar mechanism, so that the driven wheel component 16 can better match with the driving wheel component 15 to move, and the motion performance of the biped robot in the wheel type motion mode is further improved.
The invention adopts a wheel-foot mixed structure, and can play a role in reducing impact and storing energy through the introduced flexible part in a biped walking state; the body rigidity of the biped robot is increased and the walking stability is improved through a multi-link mechanism formed by the thigh part, the shank part, the flexible shock absorption part and the sole part; the active balance of the biped robot in the biped walking state is realized by utilizing the swing of the balance connecting rod part and the rotation of the driving wheel part; the active adaptability of the biped robot to different terrains is realized through the sole component and the toe component; the switching of the biped robot between a foot type motion mode and a wheel type motion mode is realized by adjusting a leg mechanism of the biped robot; in the wheel type motion mode, active shock absorption of the driving wheel component and the driven wheel component on the terrain is achieved by adjusting the balance connecting rod component and the toe component.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and although the invention has been described in detail with reference to the foregoing examples, it will be apparent to those skilled in the art that various changes in the form and details of the embodiments may be made and equivalents may be substituted for elements thereof. All modifications, equivalents and the like which come within the spirit and principle of the invention are intended to be included within the scope of the invention.
Claims (4)
1. A reconfigurable biped robot with multiple motion modes is characterized in that the biped robot is a bilateral symmetry structure and comprises a trunk part, a left hip, a right hip, a left leg and a right leg, wherein the trunk part is rotatably connected with the left hip and the right hip which are symmetrically arranged at two sides of the trunk part, and the left leg and the right leg are respectively rotatably connected with the left hip and the right hip;
the left leg comprises a thigh part, a shank part, a flexible shock absorption part, a sole part, a toe part, a balance connecting rod part, a driving wheel part and a driven wheel part;
one end of the thigh part is connected with the left hip through a revolute pair, the other end of the thigh part is connected with one end of the shank part through a revolute pair, the other end of the shank part is connected with the middle part of the sole part through a revolute pair, one end of the sole part is connected with the middle part of the toe part through a revolute pair, the other end of the sole part is connected with one end of the balance connecting rod part through a revolute pair, the driving wheel part is connected with the other end of the balance connecting rod part through a revolute pair, and the driven wheel part is connected with one end of the toe part;
the flexible shock absorption part is connected between the thigh part and the sole part;
the left hip and the right hip are identical in structure, and the left leg and the right leg are identical in structure.
When the toe part lands on the ground and the driving wheel part and the driven wheel part leave the ground, the biped robot is in a biped motion mode by adjusting a driving joint for driving the biped robot; and when the driving wheel component and the driven wheel component are grounded and the toe component is separated from the ground, the mode of wheel type motion is adopted.
2. The reconfigurable biped robot with multiple motion modes according to claim 1, wherein the flexible shock absorbing component comprises an upper thigh link component, an elastic component and a sole link component which are connected in sequence.
3. The reconfigurable biped robot having multiple movement modes according to claim 1, further comprising a toe lower end link member and a toe upper end link member, wherein one end of the toe lower end link member is connected to the other end of the toe member through a revolute pair, one end of the toe upper end link member is connected to the ball member through a revolute pair, and the other end of the toe lower end link member and the other end of the toe upper end link member are connected through a revolute pair, thereby forming a link mechanism for adjusting the driven wheel member.
4. The reconfigurable biped robot with multiple movement modes according to claim 1, wherein the left hip comprises a hip vertical rotation rod, a hip horizontal rotation component and a hip fixing component, the body component is connected with the hip vertical rotation rod through a rotation pair, the hip vertical rotation rod is connected with the hip horizontal rotation component through a rotation pair, the hip fixing component is rigidly connected with the hip horizontal rotation component, and the body component realizes roll and deflection through the hip vertical rotation rod and the hip horizontal rotation component.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010255320.7A CN111516773A (en) | 2020-04-02 | 2020-04-02 | Reconfigurable biped robot with multiple motion modes |
| PCT/CN2020/115412 WO2021103750A1 (en) | 2020-04-02 | 2020-09-15 | Reconfigurable bipedal robot having plurality of movement modes |
| JP2021546670A JP7037706B2 (en) | 2020-04-02 | 2020-09-15 | Reconfigurable biped robot with multiple motion modes |
| LU500267A LU500267B1 (en) | 2020-04-02 | 2020-09-15 | Reconfigurable bipedal robot with multiple movement modes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010255320.7A CN111516773A (en) | 2020-04-02 | 2020-04-02 | Reconfigurable biped robot with multiple motion modes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111516773A true CN111516773A (en) | 2020-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010255320.7A Pending CN111516773A (en) | 2020-04-02 | 2020-04-02 | Reconfigurable biped robot with multiple motion modes |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP7037706B2 (en) |
| CN (1) | CN111516773A (en) |
| LU (1) | LU500267B1 (en) |
| WO (1) | WO2021103750A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112278105A (en) * | 2020-11-02 | 2021-01-29 | 之江实验室 | Six-rod mechanism for foot type robot |
| WO2021103750A1 (en) * | 2020-04-02 | 2021-06-03 | 之江实验室 | Reconfigurable bipedal robot having plurality of movement modes |
| KR102482096B1 (en) * | 2021-07-30 | 2022-12-28 | 국민대학교산학협력단 | Hybrid robot switchable between leg mode and wheel mode |
| WO2023008947A1 (en) * | 2021-07-30 | 2023-02-02 | 국민대학교산학협력단 | Moving unit switchable to leg and wheel modes, and hybrid robot comprising same |
| CN115946795A (en) * | 2023-03-10 | 2023-04-11 | 之江实验室 | Foot type robot with light leg characteristics |
| CN117446049A (en) * | 2023-12-22 | 2024-01-26 | 长春电子科技学院 | Leg movement device for robot control |
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| JPH05285864A (en) * | 1992-04-08 | 1993-11-02 | Toshiba Corp | Two-feet moving walking device |
| EP0985553A4 (en) * | 1998-03-06 | 2004-12-01 | Shigeo Takizawa | Caster for robot |
| JP3918049B2 (en) | 2002-03-11 | 2007-05-23 | 独立行政法人産業技術総合研究所 | Biped robot |
| SG136078A1 (en) | 2006-03-17 | 2007-10-29 | Applied Materials Inc | Uv cure system |
| JP4797775B2 (en) | 2006-04-24 | 2011-10-19 | 株式会社日立製作所 | Biped type moving mechanism |
| CN102431604A (en) * | 2011-11-09 | 2012-05-02 | 上海交通大学 | Humanoid robot with function of interchanging double-foot walking with wheeled moving |
| CN104029745B (en) | 2014-05-21 | 2016-01-06 | 浙江大学 | A kind of leg wheel hybrid hydraulic pedipulator |
| WO2017087986A1 (en) * | 2015-11-20 | 2017-05-26 | The Regents On The University Of California | Non-anthropomorphic bipedal robotic system |
| CN105667622B (en) | 2016-01-14 | 2017-09-01 | 哈尔滨工业大学 | It is a kind of to have the six of three sections of bodies to take turns sufficient formula mobile robots |
| CN105730549B (en) * | 2016-02-19 | 2018-02-02 | 常州大学 | Series-parallel connection vibration damping apery Three Degree Of Freedom machinery foot |
| CN110843952B (en) * | 2019-11-18 | 2022-02-08 | 榆林学院 | Biped robot capable of wheeled movement and working method thereof |
| CN111516773A (en) * | 2020-04-02 | 2020-08-11 | 之江实验室 | Reconfigurable biped robot with multiple motion modes |
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2020
- 2020-04-02 CN CN202010255320.7A patent/CN111516773A/en active Pending
- 2020-09-15 WO PCT/CN2020/115412 patent/WO2021103750A1/en active Application Filing
- 2020-09-15 LU LU500267A patent/LU500267B1/en active IP Right Grant
- 2020-09-15 JP JP2021546670A patent/JP7037706B2/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021103750A1 (en) * | 2020-04-02 | 2021-06-03 | 之江实验室 | Reconfigurable bipedal robot having plurality of movement modes |
| CN112278105A (en) * | 2020-11-02 | 2021-01-29 | 之江实验室 | Six-rod mechanism for foot type robot |
| CN112278105B (en) * | 2020-11-02 | 2022-04-08 | 之江实验室 | Six-rod mechanism for foot type robot |
| KR102482096B1 (en) * | 2021-07-30 | 2022-12-28 | 국민대학교산학협력단 | Hybrid robot switchable between leg mode and wheel mode |
| WO2023008947A1 (en) * | 2021-07-30 | 2023-02-02 | 국민대학교산학협력단 | Moving unit switchable to leg and wheel modes, and hybrid robot comprising same |
| CN115946795A (en) * | 2023-03-10 | 2023-04-11 | 之江实验室 | Foot type robot with light leg characteristics |
| CN117446049A (en) * | 2023-12-22 | 2024-01-26 | 长春电子科技学院 | Leg movement device for robot control |
| CN117446049B (en) * | 2023-12-22 | 2024-02-23 | 长春电子科技学院 | Leg movement device for robot control |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021103750A1 (en) | 2021-06-03 |
| JP7037706B2 (en) | 2022-03-16 |
| LU500267B1 (en) | 2021-12-10 |
| JP2022509716A (en) | 2022-01-21 |
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