CN216401582U - Biped robot and quadruped robot - Google Patents

Abstract

The application relates to the technical field of robots and discloses a biped robot and a quadruped robot, wherein the biped robot comprises a trunk, a head, two arms, two hip joint actuators and two legs, wherein the head, the two arms and the two hip joint actuators are arranged on the trunk; each leg comprises a thigh, a connecting rod, a knee joint, a shank and a sole, wherein one end of each thigh and one end of each connecting rod are respectively arranged on the hip joint actuator, the other end of each thigh and the other end of each connecting rod are hinged with the knee joint, and the two ends of each shank are respectively connected with the knee joint and the sole; the hip joint actuator can drive the thigh and the connecting rod to rotate around the axial direction and the radial direction of the hip joint actuator. The biped robot and the quadruped robot that this application embodiment provided can realize the diversified action of shank to realize the diversified walking of robot.

Description

Biped robot and quadruped robot

Technical Field

The embodiment of the application relates to the technical field of robots, in particular to a biped robot and a quadruped robot.

Background

With the rapid development of robots, the application fields of the robots are more and more extensive, and the functions required to be realized by the robots are more and more, and the functions to be satisfied by the robots are the motions of the robots, and particularly in the legged robots, how to realize the walking state of the robots capable of simulating the legs of the animals is an important research direction.

Present sufficient robot, through set up the executor in robot joint department, can drive the relative hip joint rotation of thigh among the robot shank structure, perhaps drive the relative knee joint rotation of shank, however, the degree of freedom of robot shank structure department is less, only can realize the bending of shank or extend, the robot walking in-process shank structure is comparatively stiff, be unfavorable for realizing the diversified walking of robot, consequently, it can realize the robot of the many azimuth movements of shank to be necessary to design one kind, so as to realize the diversified walking of robot.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the application is to provide a biped robot and quadruped robot, can realize the diversified action of shank to realize the diversified walking of robot.

In order to solve the above technical problem, an embodiment of the present application provides a biped robot, including a trunk, a head mounted on the trunk, two arms, two hip actuators, and two legs corresponding to the two hip actuators one to one; each leg comprises a thigh, a connecting rod, a knee joint, a shank and a sole, wherein one end of each thigh and one end of each connecting rod are respectively arranged on the hip joint actuator, the other end of each thigh and the other end of each connecting rod are hinged with the knee joint, and the two ends of each shank are respectively connected with the knee joint and the sole; the hip joint actuator can drive the thigh and the connecting rod to rotate around the axial direction and the radial direction of the hip joint actuator.

The embodiment of the application also provides a quadruped robot, which comprises the biped robot, a connecting piece and two rear legs; the connecting piece is arranged on the trunk; each hind leg includes a hip actuator and a leg, and the hip actuator of each hind leg is mounted to the connector.

The two-foot robot and the four-foot robot provided by the embodiment of the application have the advantages that the trunk, the head, the two arms and the two legs form an anthropomorphic structure together, each leg can realize multi-directional action under the drive of the corresponding hip joint actuator, wherein when the hip joint actuator drives the thigh and the connecting rod to rotate along the same direction around the axial direction of the hip joint actuator, the leg of the robot can be lifted or put down, when the hip joint actuator drives the thigh and the connecting rod to rotate along the opposite direction around the axial direction of the hip joint actuator, the bending or the extension of the leg of the robot can be realized, when the hip joint actuator drives the thigh and the connecting rod to rotate along the same direction or opposite directions around the radial direction of the hip joint actuator, the robot can realize the yaw of the leg, therefore, multi-directional movement of the legs of the robot is realized, and multi-directional walking of the robot is realized.

In addition, the hip joint actuator comprises a first rotating ring and a second rotating ring which are coaxially arranged, one end of a thigh is connected with the first rotating ring through a first connecting piece and can rotate around the first rotating ring along with the first connecting piece in the radial direction, the second rotating ring is connected with the first connecting piece through a second connecting piece, and when the second rotating ring rotates relative to the first rotating ring, the second connecting piece can drive the first connecting piece to rotate around the first rotating ring in the radial direction. Thus, the thighs can be driven to move in different directions through the actions of the first rotating ring and the second rotating ring.

In addition, there are two second rotating rings, the two second rotating rings are located on two sides of the first rotating ring in the axial direction, and each second rotating ring is connected with the first connecting piece through one second connecting piece. Thus, the driving force can be applied to the thighs from the two sides of the first rotating ring through the second connecting pieces, and the moment when the thighs are driven to move is improved.

In addition, the hip joint actuator also comprises a third rotating ring and a fourth rotating ring which are coaxially arranged, one end of the connecting rod is connected with the third rotating ring through a third connecting piece and can rotate around the third rotating ring along with the third connecting piece in the radial direction, the fourth rotating ring is connected with the third connecting piece through a fourth connecting piece, and when the fourth rotating ring rotates relative to the third rotating ring, the fourth connecting piece can drive the third connecting piece to rotate around the third rotating ring in the radial direction. Thus, the connecting rod can be driven to move towards different directions through the actions of the third rotating ring and the fourth rotating ring.

In addition, there are two fourth rotating rings, two fourth rotating rings are located on two sides of the third rotating ring in the axial direction, and each fourth rotating ring is connected with the third connecting piece through one fourth connecting piece. Thus, the driving force can be applied to the connecting rod from the two sides of the third rotating ring through the fourth connecting piece, and the moment when the connecting rod is driven to act is improved.

In addition, each leg part also comprises two sole actuators which are arranged on the knee joint, and the output end of each sole actuator is connected with the sole through a supporting rod so as to drive the sole to pitch forwards and backwards and/or tilt left and right. Thus, the two sole actuators can drive the soles to realize corresponding actions.

In addition, the trunk comprises a base, a waist swinging actuator and two swing arm actuators, the two hip joint actuators are installed on the base, the waist swinging actuator is installed on the base, the two swing arm actuators are connected with the output end of the waist swinging actuator, the head is connected with the two swing arm actuators, and the two arms are respectively connected with the output ends of the two swing arm actuators in a one-to-one mode. Therefore, the trunk can swing left and right relative to the base through the waist swing actuator, and the swing arm actuator can drive the arms to swing back and forth.

In addition, each arm comprises an arm lifting actuator, an upper arm, an elbow actuator, a forearm and a palm, the arm lifting actuator is connected with the output end of the swing arm actuator, the upper arm is respectively connected with the output end of the arm lifting actuator and the elbow actuator, and the forearm is respectively connected with the output end of the elbow actuator and the palm. Thus, the upper arm, the forearm and the palm can be driven to be lifted or put down by the arm lifting actuator, and the forearm is driven to be lifted or put down relative to the upper arm by the elbow actuator.

In addition, the head comprises a turning actuator, a nodding actuator and a swinging actuator, the turning actuator is connected with the two swinging arm actuators, the nodding actuator is connected with the output end of the turning actuator, and the swinging actuator is connected with the output end of the nodding actuator. In this way, the head can be acted upon by different actuators at the head.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is a schematic perspective view of a biped robot provided in an embodiment of the present application;

fig. 2 is a schematic perspective view of a hip joint actuator in a biped robot provided in an embodiment of the present application;

FIG. 3 is a schematic side view of a hip joint actuator in a biped robot according to an embodiment of the present disclosure;

fig. 4 is a schematic view of a connection structure at a lower leg in a biped robot provided by an embodiment of the application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following describes each embodiment of the present application in detail with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in various embodiments of the present application in order to provide a better understanding of the present application. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation manner of the present application, and the embodiments may be mutually incorporated and referred to without contradiction.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions.

In the description of the embodiments of the present application, the technical terms "first", "second", and the like are used only for distinguishing different objects, and are not to be construed as indicating or implying relative importance or implicitly indicating the number, specific order, or primary-secondary relationship of the technical features indicated. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

In the description of the embodiments of the present application, the term "and/or" is only one kind of association relationship describing an associated object, and means that three relationships may exist, for example, a and/or B, and may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In the description of the embodiments of the present application, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are used in a broad sense, and for example, may be fixedly connected, detachably connected, or integrated; mechanical connection or electrical connection is also possible; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.

With the rapid development of robots, the application fields of robots are becoming more and more extensive, such as service robots, medical robots, industrial robots, etc., and robots can realize the basis of various requirements (such as grabbing, transferring, walking, etc.), and each part of the robot (such as each joint of the robot) can perform corresponding actions. The most important thing for the legged robot is to be able to simulate the walking state of the animal's legs, i.e., the motion of the legs.

At present, the motion of each part of the robot is driven by an actuator close to the part, the actuator applied in the robot is usually mainly used for driving the corresponding part of the robot to rotate, for example, in order to realize the bending or stretching of the leg of the robot, one actuator can be respectively arranged at the hip joint and the knee joint of the robot, the actuator at the hip joint can drive the thigh of the robot to rotate relative to the hip joint, and the actuator at the knee joint can drive the shank of the robot to rotate relative to the knee joint. Therefore, under the driving of the actuator at the hip joint and the actuator at the knee joint of the robot, the bending or the stretching of the leg part of the robot can be realized, thereby realizing the walking of the robot.

However, in the current humanoid robot, the degree of freedom of the robot leg (the degree of freedom is based on the mechanical principle, and the mechanism has the number of independent motion parameters which must be given when determining the motion) is less, and the leg structure is stiffer in the walking process of the robot, which is not beneficial to realizing the multi-directional walking of the robot.

In order to realize the multidirectional motion of the robot leg, the applicant finds that a connecting rod can be designed at the thigh of the robot, the connecting rod and the thigh are connected with a hip joint actuator and a knee joint together, and the thigh and the connecting rod are driven by the hip joint actuator to move so as to realize the multidirectional motion of the robot leg. Specifically, the hip actuator may drive the thigh and the link to rotate axially and radially about the hip actuator.

When the hip joint actuator drives the thigh and the connecting rod to rotate along the same direction around the axial direction of the hip joint actuator, the leg of the robot can be lifted or put down, when the hip joint actuator drives the thigh and the connecting rod to rotate along the opposite direction around the axial direction of the hip joint actuator, the leg of the robot can be bent or extended, and when the hip joint actuator drives the thigh and the connecting rod to rotate along the same direction or the opposite direction around the radial direction of the hip joint actuator, the leg of the robot can be yawed.

In the accompanying drawings, fig. 1 shows a three-dimensional structure of a biped robot provided by an embodiment of the present application, fig. 2 and 3 show a three-dimensional structure and a side view structure of a hip joint actuator in the biped robot provided by the embodiment of the present application, respectively, and fig. 4 shows a connection structure at a lower leg in the biped robot provided by the embodiment of the present application.

The biped robot provided by the embodiment of the application comprises a trunk 10, a head 20, two arms 30, two hip joint actuators 40 and two legs 50, wherein the head 20, the two arms 30 and the two hip joint actuators 40 are arranged on the trunk 10; each leg 50 comprises a thigh 510, a connecting rod 520, a knee joint 530, a lower leg 540 and a sole 550, one end of each of the thigh 510 and the connecting rod 520 is mounted on the hip joint actuator 40, the other end of each of the thigh 510 and the connecting rod 520 is hinged with the knee joint 530, and the two ends of each of the lower leg 540 are respectively connected with the knee joint 530 and the sole 550; hip actuator 40 may drive rotation of thigh 510 and link 520 in the axial and radial directions about hip actuator 40. Here, the axial direction of the hip joint actuator 40 is the horizontal direction, and the radial direction of the hip joint actuator 40 is perpendicular to the horizontal direction. It should be noted that the idea of the present solution is that the thigh 510 and the link 520 are driven by the hip joint actuator 40 to rotate around two relatively orthogonal directions, and the two standard directions of the axis and the radial direction are only for the convenience of description, and the rotation around the direction of the relative axial direction and the radial deviation should also be within the scope of the concept of the present solution.

The trunk 10 is a part of the bipedal robot for connecting the head 20, the two arms 30 and the two legs 50, the trunk 10, the head 20, the two arms 30 and the two legs 50 together form a humanoid structure of the bipedal robot, the two hip actuators 40 are used for mounting the two legs 50 on the trunk 10 respectively, the thigh 510 and the link 520 of each leg 50 can move under the driving of the hip actuators 40, the shank 540 of each leg 50 moves together under the driving of the thigh 510 and the link 520, and the sole 550 of each leg 50 is used for walking on the ground.

In the biped robot provided by the embodiment of the application, the trunk 10, the head 20, the two arms 30 and the two legs 50 form a humanoid structure together, each leg 50 can realize multi-directional motion under the driving of the corresponding hip actuator 40, wherein when the hip actuator 40 drives the thigh 510 and the connecting rod 520 to rotate around the hip actuator 40 in the same direction axially, the robot leg 50 can be lifted or put down, when the hip actuator 40 drives the thigh 510 and the connecting rod 520 to rotate around the hip actuator 40 in opposite directions axially, the robot leg 50 can be bent or extended, when the hip actuator 40 drives the thigh 510 and the connecting rod 520 to rotate around the hip actuator 40 in the same direction or in opposite directions radially, the robot leg 50 can be yawed, so that the robot leg 50 can realize multi-directional motion, so as to realize the multi-directional walking of the robot.

In some embodiments of the present application, optionally, hip joint actuator 40 includes a first rotating ring 410 and a second rotating ring 420 coaxially disposed, one end of thigh 510 is connected to first rotating ring 410 via a first connecting member 511 and can rotate with first connecting member 511 in a radial direction of first rotating ring 410, second rotating ring 420 is connected to first connecting member 511 via a second connecting member 421, and when second rotating ring 420 rotates relative to first rotating ring 410, first connecting member 511 can be driven to rotate in a radial direction of first rotating ring 410 via second connecting member 421. The radial direction of the first rotating ring 410 here is a direction perpendicular to its central axis.

The first rotation ring 410 and the second rotation ring 420 are two rotation output components in the hip joint actuator 40, the first rotation ring 410 and the second rotation ring 420 are coaxially arranged, that is, the central axis of the first rotation ring 410 and the central axis of the second rotation ring 420 coincide, the end of the thigh 510 is connected to the first rotation ring 410 via a first connection 511, and at the same time, the second rotation ring 420 is connected to the first connection 511 via a second connection 421.

The thighs 510 can be driven to move in different directions through the action of the first rotating ring 410 and the second rotating ring 420, when the first rotating ring 410 and the second rotating ring 420 synchronously rotate in the same direction, the thighs 510 can be driven to rotate around the axial direction of the hip joint actuator 40, and at the moment, the thighs 510 can move forwards or backwards relative to the hip joint actuator 40; when the first rotating ring 410 rotates relative to the second rotating ring 420, that is, when the first rotating ring 410 and the second rotating ring 420 are in a non-synchronous rotating state, the second rotating ring 420 can drive the thigh 510 to rotate around the radial direction of the hip joint actuator 40 through the second connecting piece 421, that is, drive the thigh 510 to yaw, and at this time, the thigh 510 can move to the left or right relative to the hip joint actuator 40.

In some embodiments of the present application, optionally, there are two second rotating rings 420, two second rotating rings 420 are located at two sides of the first rotating ring 410 in the axial direction, and each second rotating ring 420 is connected to the first connecting member 511 via one second connecting member 421.

The two second rotating rings 420 can apply driving force to the thighs 510 from both sides of the first rotating ring 410 through the second connecting members 421, thereby increasing the moment when the thighs 510 are driven to move, and improving the smoothness when the thighs 510 move.

In some embodiments of the present application, optionally, the hip joint actuator 40 further includes a third rotation ring 430 and a fourth rotation ring 440 coaxially disposed, one end of the link 520 is connected to the third rotation ring 430 through a third connection element 521 and can rotate with the third connection element 521 in a radial direction of the third rotation ring 430, the fourth rotation ring 440 is connected to the third connection element 521 through a fourth connection element 441, and when the fourth rotation ring 440 rotates relative to the third rotation ring 430, the fourth rotation ring 440 can drive the third connection element 521 to rotate in the radial direction of the third rotation ring 430 through the fourth connection element 441. The radial direction of the third rotating ring 430 here is a direction perpendicular to its central axis.

The link 520 can be driven to move in different directions by the action of the third rotating ring 430 and the fourth rotating ring 440, when the third rotating ring 430 and the fourth rotating ring 440 rotate synchronously in the same direction, the link 520 can be driven to rotate around the axial direction of the hip joint actuator 40, and at the moment, the link 520 can move forwards or backwards relative to the hip joint actuator 40; when the third rotating ring 430 rotates relative to the fourth rotating ring 440, that is, when the third rotating ring 430 and the fourth rotating ring 440 are in a non-synchronous rotating state, the fourth rotating ring 440 can drive the link 520 to rotate around the radial direction of the hip joint actuator 40 through the fourth connecting piece 441, that is, the link 520 can be driven to yaw, and at this time, the link 520 can move to the left or right relative to the hip joint actuator 40.

In some embodiments of the present application, optionally, there are two fourth rotating rings 440, two fourth rotating rings 440 are located at two sides of the third rotating ring 430 in the axial direction, and each fourth rotating ring 440 is connected to the third connecting member 521 via one fourth connecting member 441.

The two fourth rotating rings 440 can apply driving forces to the link 520 from both sides of the third rotating ring 430 through the fourth connecting members 441, respectively, thereby increasing the moment when the link 520 is driven to operate and improving the smoothness when the link 520 operates.

The hip joint actuator 40 herein may be integrated with a plurality of actuators, for example, in a specific embodiment, the hip joint actuator 40 may be integrated with four actuators, each of which may be formed by a motor and a reducer, the output of the motor may be transmitted to the corresponding output flange (i.e. the rotating rings of the hip joint actuator 40, such as the first rotating ring 410, the second rotating ring 420, the third rotating ring 430 and the fourth rotating ring 440) through the reducer, and the output flange of each actuator drives the thigh 510 and the link 520 to move through the connecting member. The driving structure of thigh 510 is similar to the driving structure of link 520, and both are driven by two types of rotating rings in hip actuator 40, and both the two types of rotating rings of hip actuator 40 are connected with thigh 510 and link 520 through a connecting member, so that thigh 510 and link 520 can be driven to rotate around hip actuator 40 in the radial direction (for driving yaw of thigh 510 and link 520) while thigh 510 and link 520 are driven to rotate around hip actuator 40 in the axial direction (for lifting or lowering thigh 510 and link 520).

In some embodiments of the present application, each leg portion 50 further optionally includes two sole actuators 560, each of the two sole actuators 560 is disposed on the knee joint 530, and an output end of each sole actuator 560 is connected to the sole 550 through a strut 561 to drive the sole 550 to pitch forward and/or tilt left and right.

Here, the two sole actuators 560 are used to drive the sole 550 to move, the joint between the lower leg 540 and the sole 550 adopts a universal joint structure, each strut 561 is rotatably connected with the sole 550 through a joint bearing, when the strut 561 is driven to move along the same direction in the state shown in the figure by the output ends of the two sole actuators 560, the sole 550 can be driven to pitch back and forth, when the strut 561 is driven to move along the opposite direction by the output ends of the two sole actuators 560, the sole 550 can be driven to tilt left and right, and when the strut 561 is driven to move along the same direction at different rates, the sole 550 can be driven to pitch back and forth, and the sole 550 can be tilted left and right to a certain extent.

In addition, in order to compensate for the difference in driving speed between the two sole actuators 560 due to the vertical stacking, the driving speed of one of the sole actuators 560 may be changed so that the two sole actuators 560 can tilt the sole 550 forward or backward or leftward or rightward.

In some embodiments of the present application, optionally, the trunk 10 includes a base 110, a swing actuator 120 and two swing arm actuators 130, the two hip joint actuators 40 are mounted on the base 110, the swing actuator 120 is mounted on the base 110, the two swing arm actuators 130 are connected to the output end of the swing actuator 120, the head 20 is connected to the two swing arm actuators 130, and the two arms 30 are respectively connected to the output ends of the two swing arm actuators 130 in a one-to-one manner.

The base 110 is used for connecting the fixing frame 450 of the two hip joint actuators 40 in the trunk 10 part, the waist swing actuator 120 is used for driving the head 20, the two swing arm actuators 130 and the two arms 30 to swing left and right in the trunk 10 part, and the swing arm actuators 130 are used for driving the corresponding arms 30 to swing back and forth in the trunk 10 part.

The torso 10 can swing left and right relative to the base 110 through the swing actuator 120, and the swing arm actuator 130 can drive the arm 30 to swing back and forth.

In some embodiments of the present application, each arm 30 optionally includes a lift arm actuator 310, an upper arm 320, an elbow actuator 330, a forearm 340, and a palm 350, the lift arm actuator 310 being connected to the output of the swing arm actuator 130, the upper arm 320 being connected to the output of the lift arm actuator 310 and the elbow actuator 330, respectively, and the forearm 340 being connected to the output of the elbow actuator 330 and the palm 350, respectively.

The lift arm actuator 310 is used in the arm 30 to drive the upper arm 320, forearm 340 and palm 350 up or down, and the elbow actuator 330 is used in the arm 30 to drive the forearm 340 up or down relative to the upper arm 320.

In addition, actuators may be respectively disposed in the upper arm 320 and the forearm 340 for driving the upper arm 320, that is, the forearm 340, to rotate vertically, and an actuator may be disposed at the wrist of the arm 30 for driving the palm 350 to move.

In some embodiments of the present application, optionally, the head 20 includes a turning actuator 210, a nodding actuator 220, and a swinging actuator 230, the turning actuator 210 is connected to the two swing arm actuators 130, the nodding actuator 220 is connected to an output end of the turning actuator 210, and the swinging actuator 230 is connected to an output end of the nodding actuator 220.

The head rotating actuator 210 is used for realizing horizontal rotation of the head 20, the nodding actuator 220 is used for realizing front and back nodding of the head 20, and the head swinging actuator 230 is used for realizing left and right swinging of the head 20.

The embodiment of the application also provides a quadruped robot, which comprises the biped robot provided by the embodiment, a connecting piece and two rear legs; the connecting piece is arranged on the trunk 10; each hind leg includes a hip actuator and a leg, and the hip actuator of each hind leg is mounted to the connector. By adding two rear legs into the biped robot, the quadruped robot can be formed so as to expand the application scene of the robot.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the present application, and that various changes in form and details may be made therein without departing from the spirit and scope of the present application in practice.

Claims (10)

1. A biped robot, comprising:

the hip joint actuator comprises a trunk, a head, two arms, two hip joint actuators and two legs, wherein the head, the two arms, the two hip joint actuators and the two legs are arranged on the trunk;

each leg part comprises a thigh, a connecting rod, a knee joint, a shank and a sole, wherein one end of each thigh and one end of each connecting rod are respectively arranged on the hip joint actuator, the other end of each thigh and the other end of each connecting rod are respectively hinged with the knee joint, and the two ends of each shank are respectively connected with the knee joint and the sole;

the hip joint actuator may drive the thigh and the link to rotate about the hip joint actuator in both axial and radial directions.

2. The biped robot of claim 1 wherein:

the hip joint actuator comprises a first rotating ring and a second rotating ring which are coaxially arranged, one end of the thigh is connected with the first rotating ring through a first connecting piece and can rotate around the first rotating ring along with the first connecting piece in the radial direction, the second rotating ring is connected with the first connecting piece through a second connecting piece, and when the second rotating ring rotates relative to the first rotating ring, the second rotating ring can drive the first connecting piece to rotate around the first rotating ring in the radial direction through the second connecting piece.

3. The biped robot of claim 2 wherein:

the number of the second rotating rings is two, the two second rotating rings are positioned on two sides of the first rotating ring in the axial direction, and each second rotating ring is connected with the first connecting piece through one second connecting piece.

4. The biped robot of claim 1 wherein:

the hip joint actuator further comprises a third rotating ring and a fourth rotating ring which are coaxially arranged, one end of the connecting rod is connected with the third rotating ring through a third connecting piece and can rotate around the third rotating ring along with the third connecting piece in the radial direction, the fourth rotating ring is connected with the third connecting piece through a fourth connecting piece, and when the fourth rotating ring rotates relative to the third rotating ring, the fourth connecting piece can drive the third connecting piece to rotate around the third rotating ring in the radial direction.

5. The biped robot of claim 4 wherein:

the number of the fourth rotating rings is two, the two fourth rotating rings are positioned on two sides of the third rotating ring in the axial direction, and each fourth rotating ring is connected with the third connecting piece through one fourth connecting piece.

6. The biped robot of claim 1 wherein:

each leg part further comprises two sole actuators, the two sole actuators are arranged on the knee joint, and the output end of each sole actuator is connected with the sole through a supporting rod so as to drive the sole to pitch forwards and backwards and/or tilt left and right.

7. The biped robot of claim 1 wherein:

the torso comprises a base, a waist swinging actuator and two swing arm actuators, the two hip joint actuators are installed on the base, the waist swinging actuator is installed on the base, the two swing arm actuators are connected with the output end of the waist swinging actuator, the head is connected with the two swing arm actuators, and the two arms are respectively connected with the output ends of the two swing arm actuators in a one-to-one mode.

8. The biped robot of claim 7 wherein:

every the arm is including lifting arm executor, upper arm, elbow executor, forearm and palm, lift the arm executor with the output of swing arm executor is connected, the upper arm respectively with lift the output of arm executor the elbow executor is connected, the forearm respectively with the output of elbow executor the palm is connected.

9. The biped robot of claim 7 wherein:

the head comprises a turning actuator, a nodding actuator and a swinging actuator, the turning actuator is connected with the two swinging arm actuators, the nodding actuator is connected with the output end of the turning actuator, and the swinging actuator is connected with the output end of the nodding actuator.

10. A quadruped robot, comprising:

the biped robot of any one of claims 1 to 9;

a connecting member mounted to the trunk;

two hind legs, each said hind leg including one said hip actuator and one said leg, said hip actuator of each said hind leg being mounted to said connector.

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