M3 3 0902 八、新型說明： 【新型所屬之技術領域】 本創作係提供一種兩足行走之人形機器人，尤係指一種特殊 . 體部設計之兩足行走之人形機器人，可應用在各種人形機器人開 發上’例如：玩具機器人、研究用機器人、家庭機器人…等。 【先前技術】 按’現有技術在機器人髖部的部份並未賦予自由度，使得機 -人之行走方式與人類較不相近。另外在板金設計部分，現有技 術為非一體成形之設計，使得在組裝、維修等方面較不容易。 另外，習知相關之專利前案，諸如古田貴之等人所發明之「兩 腳步行式移動裝置、其步行控制裝置及步行控制方法」帛54傷 號、及「兩腳行走式人形機器人」帛㈣661號。該些專利前案 揭示有相關之麥克風陣列相關技術，在此併入本文，以供參考。 【新型内容】 _ 。本創狀目的係提供—_足行走之人賴器人，主要係在 j人的競β部位夕增加了二個自由度，分別控制腰部以及雙腳 、旋轉方肖明加機裔人往左右方向行走之能力使其運動方 式與人類更為接近。 為達致上述目的，本創作兩足行走之人形機器人，包括：一 軀幹部份’具有一中空部位，用以容納作為一電路配置之用； 7競部部位，係連接設置在該鱗部份之下方；及—兩足部份， 糸連接設置在該卿部位之下方，其中，該卿位包括有一第一 4 M330902 麟=述兩足部份之其中-腿部連接，而具有-第-自由度； 一弟 射述之髖部部位連接，而具有-第二自由度；及 一第三機構，贿細足部份之射糾—腿料接，而具有一 第二自由度。藉此，該機器人在體部部位多增加了三個自由度， 分別控制腰部以及雙腳的旋轉方向，如此便可增加機ϋ人往左右 方向行走之能力，使其運動方式與人類更為接近。 本創創作之上述目的、特徵、優點能更_，下文特舉 以心例，並配合所_示，作詳細說明如 【實施方式】 :參閱第-、二圖’其係本創作實施例人形機器人之轉 刀 之正面及其背面機構圖。包括有： ° 配置=幹部份1G，具有一中空部位12，用以可容納作為一電路 (如第五圖所示）之用，諸如安裝有 感測電路及相關模組等。 電路、控制電路、 1部部位16 ’係連接設置在該ϋ幹部份10之下方。 主兩足部份18 ’係連接設置在該體部部位之下方。 4辟三®，其縣創作實闕人 大圖，咖_6_: 购機構放 有一 2:ΓΓ0，與前述兩足部份18之其中一腿部連接，而具 由度 第 •機構22，與前述之髖部部位i6連接，而具有 第二自 M3 3 0902 一第三機構24,與前述兩足部份18之其中另外一腿部連接， 而具有一第三自由度。 本創作之機器人在體部部位多增加了三個自由度，分別控制 . 腰部以及雙腳的旋轉方向，如此便可增加機器人往左右方向行走 之能力，使其運動方式與人類更為接近。其中，用於補強之板金 零件以螺絲固定，增加髖部部位16機構之強度與剛性。 前述本創作之機器人，在實施上各個機構件之材料在板金材 ► 料方面係選用鋁合金’厚度為1mm，主要優點在於鋁合金質輕且 強度兩’相當廣泛的使用於航太科技或是汽車上。 請參閱第四、五圖，其係本創作實施例人形機器人之正面及 其背面實體圖，該人形機器人軀體包括有·· 一視覺感知系統26，係設在一人形機器人丨軀體之軀幹部份 10之上方。 一陀螺儀28，為兩軸式，平放於該機器人丨肩膀的位置，以 ►感測機器人1之傾斜方向。特別是可用以测量機器人分別在橫向 以及縱向的傾斜以及加速度。此陀螺儀28在實施上更可整合一個 CMOS製程的兩轴加速度ic以及低通濾波器和放大器。 一電池組30，用以提供該機器人1行走之動能。 前述之電路配置14，包括有電源電路與電控感知電路安裝於 該機器人1之軀幹内。 藉該等設置’主要優_於可以保持機器人之整體平衡性， 同時機器人之躺幹外殼也能夠提供保護電路的作用，降低外力衝 6 M3 3 0902 擊之影響。 本創作之設計主要著重於改善現有技術在機器人髖部的部份 並未賦予自由度，使得機器人之行走方式與人類較不相近。另外 在板金設計部分，現有習知技術為非一體成形之設計，使得在組 裝、維修等方面較不容易。 故本創作之提出，確實已可改善前述習知之諸多缺失，應符 5專利產業上利用性、新穎性、以及進步性之所規定。雖然前述 的描述及圖式已揭示本創作之較佳實施例，惟此乃僅係實施例之 呈現’舉凡各種增添、修改和取代可能使用於本創作較佳實施例， 仍應屬落入本創作之申請專利範圍所界定之範圍内。因此，本文 於此所揭示的實施例所有觀點，應被減用職明本創作，而非 用以限制摘作。攝作之範圍應由後附之申請專魏圍所界 定，並涵蓋其合法均等物，並不限於先前之描述。 M3 3 0902 【圖式簡單說明】 第一圖係本創作實施例人形機器人之軀幹部份以卞之正面機構 圖。 第二圖係本創作實施例人形機器人之軀幹部份以卞之背面機構 圖〇 第三圖係本創作實施例人形機器人之髖部機構放大圖 第四圖係本創作實施例人形機器人之正面實體圖。 第五圖係本創作實施例人形機器人之背面實體圖。 【主要元件符號說明】 1 機器人 12 中空部位 16 翁部部位 20 第一機構 24 第三機構 28 陀螺儀 30 10 躺幹部份 14 電路配置 18 兩足部份 22 第二機構 26 視覺感知系疵 電池叙 8M3 3 0902 VIII. New Description: [New Technology Field] This creation department provides a humanoid robot with two-legged walking, especially a special human body robot with two-legged walking. It can be applied to various humanoid robots. Development 'for example: toy robots, research robots, home robots, etc. [Prior Art] According to the prior art, no part of the hip portion of the robot is given a degree of freedom, so that the machine-human walking mode is not similar to that of human beings. In addition, in the sheet metal design part, the prior art is a non-integral design, making it difficult to assemble and maintain. In addition, the related patents, such as the "two-legged walking mobile device, its walking control device and walking control method" invented by Gu Tiangui and others, 帛54 injury number, and "two-legged walking humanoid robot" 四 (4) 661 number. Related patents are disclosed in the prior art, which is incorporated herein by reference. [New content] _. The purpose of this creation is to provide a person who walks in the foot of the body, mainly by adding two degrees of freedom to the side of the j-part of the j-person, respectively controlling the waist and the feet, and rotating the side of the Xiaoming and moving to the left and right. The ability to move is closer to humans. In order to achieve the above objectives, the humanoid robot of the two-legged walking comprises: a torso portion having a hollow portion for accommodating as a circuit configuration; 7 a part of the competition portion, the connection being arranged in the scale portion And the two-legged portion, the 糸 connection is disposed below the cleavage portion, wherein the cleavage position includes a first 4 M330902 lin = the two-legged portion of the leg-to-leg connection, and the -- Degree of freedom; a younger brother's hip part is connected with a second degree of freedom; and a third mechanism, the part of the bribe is fixed, the leg is connected, and has a second degree of freedom. In this way, the robot adds three degrees of freedom to the body part, respectively controlling the rotation direction of the waist and the feet, so as to increase the ability of the machine to walk in the left and right direction, so that the movement mode is closer to humans. . The above-mentioned purposes, features, and advantages of the creation of the creation can be more _, the following is a special example, and with the instructions, for detailed description, such as [embodiment]: see the first and second diagrams The front and back mechanism diagram of the robot's rotary knife. It includes: ° Configuration = dry part 1G, with a hollow part 12 for accommodating as a circuit (as shown in Figure 5), such as the installation of sensing circuits and related modules. The circuit, the control circuit, and the one portion 16' are connected below the spin-out portion 10. The main bifurcated portion 18' is connected below the body portion. 4Daisan®, the county's creation is a big picture, coffee_6_: The purchasing agency has a 2: ΓΓ0, connected to one of the legs of the two-legged part 18, and with the degree of the body 22, and the aforementioned The hip portion i6 is connected, and has a second from the M3 3 0902, a third mechanism 24, which is connected to the other leg of the two-legged portion 18, and has a third degree of freedom. The robot of this creation adds three degrees of freedom to the body part, respectively controlling the waist and the rotation direction of the feet, thus increasing the ability of the robot to walk in the left and right direction, making the movement more close to humans. Among them, the sheet metal parts used for reinforcement are fixed by screws to increase the strength and rigidity of the 16 parts of the hip part. In the above-mentioned robot, in the implementation of the material of each machine component, the thickness of the aluminum alloy is 1 mm in terms of sheet metal material. The main advantage is that the aluminum alloy is light and the strength is quite extensively used in aerospace technology or On the car. Please refer to the fourth and fifth figures, which are the front side and the back side entity diagram of the humanoid robot of the present embodiment. The humanoid robot body includes a visual perception system 26, which is connected to the torso part of the humanoid robot body. Above the 10th. A gyroscope 28, which is a two-axis type, is placed flat on the shoulder of the robot to sense the tilt direction of the robot 1. In particular, it can be used to measure the tilt and acceleration of the robot in the lateral and longitudinal directions, respectively. The gyroscope 28 is implemented to integrate a two-axis acceleration ic of a CMOS process and a low pass filter and amplifier. A battery pack 30 is provided for providing the kinetic energy of the robot 1 to walk. The circuit arrangement 14 described above includes a power supply circuit and an electronically sensed circuit mounted in the torso of the robot 1. By means of these settings, the main advantage is that the overall balance of the robot can be maintained, and the robot's lying outer casing can also provide a protection circuit to reduce the impact of the external force on the 6 M3 3 0902. The design of this creation focuses on improving the prior art in the hip part of the robot without giving degrees of freedom, making the robot walk in a similar way to humans. In addition, in the sheet metal design part, the prior art is a non-integral design, making it relatively difficult to assemble and maintain. Therefore, the proposal of this creation has indeed improved many of the aforementioned shortcomings, and should be in accordance with the provisions of the patent industry for usability, novelty, and advancement. While the foregoing description and drawings have disclosed the preferred embodiments of the embodiments of the present invention, the present invention is intended to be a Within the scope defined by the scope of the patent application for creation. Therefore, all of the points of the embodiments disclosed herein should be reduced to the work of the syllabus and not to limit the abstract. The scope of the filming shall be defined by the attached application, Weiwei, and covers its legal equivalents and is not limited to the previous description. M3 3 0902 [Simple description of the drawing] The first figure is the front body diagram of the torso part of the humanoid robot of the present embodiment. The second figure is the back side of the human body of the humanoid robot in the present embodiment. The third figure is the embodiment of the human body of the humanoid robot. The fourth figure is the frontal entity of the humanoid robot. Figure. The fifth figure is a back side solid figure of the humanoid robot of the present creation embodiment. [Main component symbol description] 1 Robot 12 Hollow part 16 Worm part 20 First mechanism 24 Third mechanism 28 Gyro 30 10 Lying part 14 Circuit configuration 18 Biped part 22 Second mechanism 26 Visual perception system battery 8