CN111301549B - Biped robot structure and control method thereof - Google Patents
Biped robot structure and control method thereof Download PDFInfo
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- CN111301549B CN111301549B CN201911193355.6A CN201911193355A CN111301549B CN 111301549 B CN111301549 B CN 111301549B CN 201911193355 A CN201911193355 A CN 201911193355A CN 111301549 B CN111301549 B CN 111301549B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 106
- 230000009471 action Effects 0.000 claims abstract description 12
- 210000001503 joint Anatomy 0.000 claims description 15
- 210000001624 hip Anatomy 0.000 claims description 13
- 210000004394 hip joint Anatomy 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 2
- 238000003032 molecular docking Methods 0.000 claims 2
- 210000003127 knee Anatomy 0.000 abstract description 12
- 230000002441 reversible effect Effects 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000004575 stone Substances 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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)
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a biped robot structure, comprising: the invention also provides a control method of the biped robot structure, which comprises the following steps: controlling the first power mechanism and the third power mechanism to run and perform passive walking; when the walking positive direction meets an obstacle, the second power mechanism is controlled to operate, so that the angle of the lower support rod swinging shaft deflects. The second power mechanism can drive the third power mechanism to rotate at the lower end of the upper support rod, so that the angle of the lower support rod swinging shaft is changed, the lower support rod swings towards the left front or the right front, the lower support rod bypasses the obstacle from the side surface of the obstacle, and the interference of the obstacle in the right front of the lower support rod on the knee lifting action of the robot is avoided.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a biped robot structure and a control method thereof.
Background
The technology of the biped robot promotes the technological development, can finish walking tasks in complex environments, and has important research significance, the biped robot adopts passive walking at present, and the passive walking is a method for researching a biped (two legs) walking system, and the system comprises human beings or other biped animals.
In order to reduce the friction time between the feet of the robot and the ground during passive walking, a knee bending mechanism is usually arranged at the joint of the lower support rod and the upper support rod of the robot to realize knee bending (for example, knee lifting action) of the robot, so that the friction time between the feet of the robot and the ground during passive walking is reduced.
However, when an obstacle (for example, a stone) is located right in front of the lower strut of the robot during the walking process of the robot, the robot can easily cause the lower end of the lower strut to collide with the obstacle quickly during the knee lifting action, and therefore the knee lifting action of the robot is interfered.
Disclosure of Invention
The invention aims to overcome the technical defects and provide a biped robot structure, which solves the technical problem that an obstacle is arranged right in front of a lower support rod of a robot in the prior art to interfere with the knee lifting action of the robot.
In order to achieve the above technical object, an aspect of the present invention provides a biped robot structure, including: the hip joint comprises a hip, two upper support rods, two lower support rods, two first power mechanisms, two second power mechanisms and a third power mechanism, wherein the two upper support rods are respectively arranged at two sides of the hip, the two first power mechanisms are in one-to-one correspondence to be in driving connection with the two upper support rods, and each first power mechanism can independently drive one upper support rod to swing back and forth relative to the hip; the two second power mechanisms are arranged at the lower ends of the two upper supporting rods in a one-to-one correspondence manner; the two third power mechanisms are correspondingly arranged at the lower ends of the two second power mechanisms one by one, each second power mechanism can independently drive one third power mechanism to rotate at the lower end of the upper supporting rod, and the axis of the second power mechanism driving the third power mechanism to rotate is parallel to the long edge of the upper supporting rod; the number of the lower supporting rods is two, the two lower supporting rods are arranged at the lower ends of the two third power mechanisms in a one-to-one correspondence mode, each third power mechanism can independently drive one lower supporting rod to swing relative to the upper supporting rod, and the axis of the swinging of the lower supporting rods is perpendicular to the axis of the second power mechanism driving the third power mechanisms to rotate.
The invention also provides a control method of the biped robot structure, which comprises the following steps: and when the forward direction of walking meets an obstacle, the second power mechanism is controlled to operate, so that the angle of the lower support rod swinging shaft deflects.
Compared with the prior art, the invention has the beneficial effects that: the two first power mechanisms in the biped robot structure respectively drive the two upper support rods to swing, the two third power mechanisms respectively drive the lower support rods to swing, so that the biped robot structure can walk passively, when an obstacle exists in front of the lower support rod of the robot, the lower support rod is in the process of leaving the ground, the second power mechanism operates, the second power mechanism can drive the third power mechanisms to rotate at the lower ends of the upper support rods, so that the angle of the swing shaft of the lower support rod is changed, the lower support rod is made to swing towards the left front or the right front, the lower support rod bypasses the obstacle from the side surface of the obstacle, the obstacle in front of the lower support rod is prevented from interfering with the knee lifting action of the robot, and the second power mechanism operates in the reverse direction after bypassing the obstacle and before landing, the lower support rod swinging shaft is reset in angle, and preparation is made for the next passive walking.
Drawings
FIG. 1 is a schematic structural view of one embodiment of a biped robotic structure provided by the present invention;
FIG. 2 is a schematic structural view of a lower strut of the present invention in an unbent state;
fig. 3 is a structural view illustrating a state in which the lower support rod is bent to the left side in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further 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.
Referring to fig. 1, the present embodiment provides a biped robot structure, including: the hip joint comprises a hip 1, an upper support rod 2, a lower support rod 3, a first power mechanism 4, a second power mechanism 5 and a third power mechanism 6.
The hip 1 is in a quadrangular prism shape, obviously, the hip 1 can also be set to be cylindrical, the axis of the hip 1 is horizontally arranged, the first power mechanisms 4 can be servo motors or stepping motors, the shells of the first power mechanisms 4 are fixedly connected with the hip 1, and the rotating shafts of the first power mechanisms 4 are fixedly connected with the upper ends of the upper support rods 2.
The number of the second power mechanisms 5 is two, and the two second power mechanisms 5 are correspondingly mounted at the lower ends of the two upper support rods 2, in this embodiment, the second power mechanisms 5 may be stepping motors or servo motors.
The number of the third power mechanisms 6 is two, the two third power mechanisms 6 are correspondingly mounted at the lower ends of the two second power mechanisms 5 one by one, each second power mechanism 5 can independently drive one third power mechanism 6 to rotate at the lower end of the upper support rod 2, and the axis of the second power mechanism 5 driving the rotation of the third power mechanism 6 is parallel to the long side of the upper support rod 2.
The number of the lower supporting rods 3 is two, the two lower supporting rods 3 are correspondingly arranged at the lower ends of the two third power mechanisms 6 one by one, and each third power mechanism 6 can independently drive one lower support rod 3 to swing relative to the upper support rod 2, the axis of the lower support rod 3 swinging is vertical to the axis of the second power mechanism 5 driving the third power mechanism 6 to rotate, so as to change the angle of the swinging shaft of the lower support rod 3, that is, the lower support rod 3 can swing not only forwards and backwards, but also leftwards and rightwards, leftwards and rightwards and backwards, rightwards and leftwards and backwards, therefore, the collision between the lower support rod 3 and a barrier (for example, a stone, the barrier in this embodiment is a stone lower than the upper support rod 2, and is not a wall, and the robot structure needs to turn integrally if meeting the wall) in front of the lower support rod is avoided.
Two in this biped robot structure first power unit 4 drives two respectively go up the swing of branch 2, two third power unit 6 drives respectively 3 swings of branch down to realize the passive walking of biped robot structure, passive walking includes that 0 ~ 40% time quantum is single leg support period, and 40 ~ 60% time quantum is both legs support period, and 60 ~ 100% time quantum is the swing stage, because the passive walking of robot is technical staff's in the field common knowledge, general knowledge does not do the detailed introduction here again.
Referring to fig. 2 and 3, when an obstacle is located in front of the lower support rod 3 of the robot, the second power mechanism 5 operates when the lower support rod 3 leaves the ground, and the second power mechanism 5 can drive the third power mechanism 6 to rotate at the lower end of the upper support rod 2, so as to change the angle of the swing shaft of the lower support rod 3, so that the lower support rod 3 swings to the left front or the right front, and the lower support rod 3 bypasses the obstacle from the side surface of the obstacle, thereby preventing the obstacle located in front of the lower support rod 3 from interfering with the knee lifting action of the robot, and after bypassing the obstacle and before landing, the second power mechanism 5 operates in the reverse direction, so as to reset the angle of the swing shaft of the lower support rod 3, and prepare for the next passive walking.
The embodiment also provides a preferable implementation manner, wherein a butt-joint block 2a is fixed at the lower end of each upper support rod 2, a butt-joint groove 2b and a first sliding groove 2c are formed at the lower end of each butt-joint block 2a, and the length direction of each first sliding groove 2c is consistent with the length direction of each upper support rod 2; one end, close to the butt joint block 2a, of each second power mechanism 5 is fixedly provided with a sliding shaft 7, one end of each sliding shaft 7 is arranged in the first sliding groove 2c in a sliding mode, a spiral spring 8 is sleeved on each sliding shaft 7, one end of each spiral spring 8 is fixedly connected with the butt joint block 2a, and the other end of each spiral spring 8 is fixedly connected with one end, close to the third power mechanism 6, of each sliding shaft 7.
The upper end of the lower supporting rod 3 is provided with a butt joint column 3a which is arranged along the length direction of the lower supporting rod, when the lower end of the lower supporting rod 3 is contacted with the ground, and when the length directions of the lower support rod 3 and the upper support rod 2 are collinear, the upper support rod 2 moves downwards relative to the lower support rod 3 under the action of gravity, and the upper end of the butt joint column 3a is inserted into the butt joint groove 2b, thereby completely locking the movement of the lower support rod 3 relative to the upper support rod 2, avoiding the deflection of the lower support rod 1 relative to the upper support rod 2 when the working machine a on the hip 1 works, only driving the upper support rod 2 to swing by the first power mechanism 4, when the lower support rod 3 is separated from the ground, the coil spring 8 drives the upper end of the butt-joint column 3a to pop out from the butt-joint groove 2b, so that the movement of the lower support rod 3 is unlocked.
The upper end of the lower supporting rod 3 is provided with a second sliding groove, a fourth power mechanism is arranged in the second sliding groove, the fourth power mechanism is in driving connection with the butt joint column 3a, the fourth power mechanism can drive the butt joint column 3a to slide into the second sliding groove, therefore, the interference of the butt joint column 3a on the knee bending action is completely avoided, and the fourth power mechanism can be a linear motor or a telescopic cylinder.
The embodiment further provides a preferable implementation manner, the biped robot structure further comprises a support plate 9 and a fifth power mechanism, the front side and the rear side of the lower end of each lower support rod 3 are hinged with one support plate 9, the support plates 9 can be turned upwards to be attached to the lower support rods 3, and the support plates 9 can be turned downwards to be attached to the ground; fifth power unit with backup pad 9 drive is connected, and the drive backup pad 9 is relative lower branch 3 upset, fifth power unit can drive two backup pad 9 on the lower branch 3 expandes and ground contact, and the area of contact of 3 lower extremes of increase lower branch and ground improves the stability of biped robot structure for when the structural work machine of biped robot received great reverse action power, the biped robot structure was difficult to topple over.
The embodiment further provides a specific implementation manner, a through groove arranged along the length direction of the lower support rod 3 is arranged on the lower support rod 3, the through groove penetrates through the front end face and the rear end face of the lower support rod 3, each lower support rod 3 is provided with one third power mechanism 6, each fifth power mechanism comprises a fifth rotating motor, a lead screw a1, a slider a2 and a connecting rod a3, the lead screw a1 is arranged in the through groove, and the lead screw a1 is arranged along the length direction of the lower support rod 3; the shell of the fifth rotating motor is fixedly connected with the lower support rod 3, and the rotating shaft of the fifth rotating motor is coaxially and fixedly connected with one end of the screw rod a 1; a nut is fixed on the slide block a2, the slide block a2 is connected with the lead screw a1 through the nut, and the slide block a2 is fixed relative to the circumferential direction of the lead screw a 1; each fifth power mechanism comprises two connecting rods a3, one end of each connecting rod a3 is hinged to the sliding block a2, the other end of each connecting rod a3 corresponds to the other end of each connecting rod a3 and is hinged to the corresponding supporting plate 9, the internal space of the lower supporting rod 3 is fully utilized, and one third rotating motor can simultaneously unfold two supporting plates 9.
In this embodiment, the biped robot structure further includes a power module and a control module, the power module is configured to provide moving power for the wheel-foot mechanism of the mobile robot, the control module is configured to control the wheel-foot mechanism of the mobile robot to perform detection and movement, and both the power module and the control module are embedded in the hip 1.
The embodiment also provides a control method of the biped robot structure, which comprises the following steps: the biped robot structure controls the first power mechanism 4 and the third power mechanism 6 to operate to perform passive walking, and controls the second power mechanism 5 to operate to deflect the angle of the swinging shaft of the lower support rod 3 when the walking positive direction meets an obstacle.
Specifically, when an obstacle is located in front of the lower support rod 3 of the robot, the second power mechanism 5 operates in the process that the lower support rod 3 leaves the ground, the second power mechanism 5 can drive the third power mechanism 6 to rotate at the lower end of the upper support rod 2, so that the angle of the swing shaft of the lower support rod 3 is changed, the lower support rod 3 swings left and front or right and is accordingly wound around the obstacle from the side face of the obstacle, interference of the obstacle located in front of the lower support rod 3 on the knee lifting action of the robot is avoided, and the second power mechanism 5 operates in the reverse direction after the lower support rod 3 winds around the obstacle and before the lower support rod falls to the ground, so that the angle of the swing shaft of the lower support rod 3 is reset.
The working principle is as follows: in the biped robot structure, two first power mechanisms 4 respectively drive two upper support rods 2 to swing, two third power mechanisms 6 respectively drive lower support rods 3 to swing, so that passive walking of the biped robot structure is realized, when an obstacle exists in the front of the lower support rods 3 of the robot, the lower support rods 3 leave the ground, the second power mechanisms 5 operate, the second power mechanisms 5 can drive the third power mechanisms 6 to rotate at the lower ends of the upper support rods 2, so that the angle of the swing shafts of the lower support rods 3 is changed, the lower support rods 3 swing towards the left front or the right front, the lower support rods 3 bypass the obstacle from the side of the obstacle, the obstacle in the front of the lower support rods 3 is prevented from interfering with the knee lifting action of the robot, and the lower support rods 3 after bypassing the obstacle, Before falling to the ground, the second power mechanism 5 runs reversely to reset the angle of the swinging shaft of the lower support rod 3, so as to prepare for the next passive walking.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (5)
1. A biped robotic structure, comprising: the hip joint comprises a hip, two upper support rods, two lower support rods, two first power mechanisms, two second power mechanisms and a third power mechanism, wherein the two upper support rods are respectively arranged at two sides of the hip, the two first power mechanisms are in one-to-one correspondence to be in driving connection with the two upper support rods, and each first power mechanism can independently drive one upper support rod to swing back and forth relative to the hip; the two second power mechanisms are arranged at the lower ends of the two upper supporting rods in a one-to-one correspondence manner; the two third power mechanisms are correspondingly arranged at the lower ends of the two second power mechanisms one by one, each second power mechanism can independently drive one third power mechanism to rotate at the lower end of the upper supporting rod, and the axis of the second power mechanism driving the third power mechanism to rotate is parallel to the long edge of the upper supporting rod; the number of the lower supporting rods is two, the two lower supporting rods are correspondingly arranged at the lower ends of the two third power mechanisms one by one, each third power mechanism can independently drive one lower supporting rod to swing relative to the upper supporting rod, and the swinging axis of the lower supporting rod is vertical to the axis of the second power mechanism driving the third power mechanisms to rotate;
the lower end of each upper supporting rod is fixed with a butt joint block, the lower end of each butt joint block is provided with a butt joint groove and a first sliding groove, and the length direction of the first sliding groove is consistent with that of the upper supporting rod; a sliding shaft is fixed at one end of each second power mechanism close to the butt joint block, one end of each sliding shaft is arranged in the first sliding groove in a sliding mode, a spiral spring is sleeved on each sliding shaft, one end of each spiral spring is fixedly connected with the butt joint block, and the other end of each spiral spring is fixedly connected with one end of each sliding shaft close to the third power mechanism; the upper end of the lower supporting rod is provided with a butt-joint column arranged along the length direction of the lower supporting rod; when the lower end of the lower supporting rod is in contact with the ground and the lower supporting rod and the upper supporting rod are collinear in the length direction, the upper supporting rod moves downwards relative to the lower supporting rod under the action of gravity, and the upper end of the butt joint column is inserted into the butt joint groove.
2. The biped robot structure of claim 1, wherein a second chute is formed at an upper end of the lower support rod, a fourth power mechanism is disposed in the second chute, the fourth power mechanism is drivingly connected to the docking post, and the fourth power mechanism drives the docking post to slide into the second chute.
3. The biped robotic structure of claim 1, further comprising a support plate and a fifth power mechanism, wherein the front side and the rear side of the lower end of each lower support rod are hinged with one support plate, and the support plate can be flipped up to fit the lower support rod and flipped down to fit the ground; and the fifth power mechanism is in driving connection with the support plate and drives the support plate to overturn relative to the lower support rod.
4. The biped robotic structure of claim 3, wherein the lower support bar is provided with a through slot arranged along a length direction thereof, and the through slot penetrates through a front end face and a rear end face of the lower support bar, each lower support bar is provided with one third power mechanism, each fifth power mechanism comprises a fifth rotating motor, a lead screw, a slider and a connecting rod, the lead screw is arranged in the through slot, and the lead screw is arranged along the length direction of the lower support bar; a shell of the fifth rotating motor is fixedly connected with the lower support rod, and a rotating shaft of the fifth rotating motor is coaxially and fixedly connected with one end of the screw rod; a nut is fixed on the sliding block, the sliding block is connected with the screw rod through the nut, and the sliding block is fixed relative to the circumferential direction of the screw rod; each fifth power mechanism comprises two connecting rods, one end of each connecting rod is hinged to the sliding block, and the other end of each connecting rod corresponds to the corresponding supporting plate in a one-to-one mode and is hinged to the corresponding supporting plate.
5. A method of controlling a biped robotic structure, the method comprising: providing a biped robotic structure according to claim 1; and when the forward direction of walking meets an obstacle, the second power mechanism is controlled to operate, so that the angle of the lower support rod swinging shaft deflects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911193355.6A CN111301549B (en) | 2019-11-28 | 2019-11-28 | Biped robot structure and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911193355.6A CN111301549B (en) | 2019-11-28 | 2019-11-28 | Biped robot structure and control method thereof |
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| Publication Number | Publication Date |
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| CN111301549A CN111301549A (en) | 2020-06-19 |
| CN111301549B true CN111301549B (en) | 2021-03-23 |
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| CN201911193355.6A Expired - Fee Related CN111301549B (en) | 2019-11-28 | 2019-11-28 | Biped robot structure and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116252885B (en) * | 2023-03-29 | 2024-06-14 | 清华大学 | Bipedal robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61205567A (en) * | 1985-03-07 | 1986-09-11 | Motoda Electronics Co Ltd | Robot leg mechanism |
| CN104369790A (en) * | 2014-09-04 | 2015-02-25 | 中国科学院合肥物质科学研究院 | Double-foot robot walking mechanism |
| CN105857431A (en) * | 2016-03-29 | 2016-08-17 | 刘子骞 | Robot with reasonable structural design |
| CN108818608A (en) * | 2018-08-24 | 2018-11-16 | 上海哲谦应用科技有限公司 | A kind of parallel Three Degree Of Freedom anthropomorphic robot joint |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101531006B (en) * | 2009-03-31 | 2011-06-29 | 清华大学 | Power type walking method for biped robot |
| US9120512B2 (en) * | 2010-04-22 | 2015-09-01 | Honda Motor Co., Ltd. | Control device and gait generating device for bipedal mobile robot |
| CN102793596B (en) * | 2012-07-25 | 2015-03-04 | 中国人民解放军空军航空医学研究所 | Dynamic knee joint, dynamic ankle joint prosthesis and dynamic lower-limb prosthesis |
| CN106564539B (en) * | 2016-11-18 | 2019-08-02 | 深圳市行者机器人技术有限公司 | Biped is semi-passive to dividing upper body running gear |
| CN107128398B (en) * | 2017-06-09 | 2022-05-17 | 江门市华彬科技有限公司 | Multi-joint leg structure of biped walking robot |
| CN209008723U (en) * | 2018-10-16 | 2019-06-21 | 北京康力优蓝机器人科技有限公司 | A kind of wheeled biped robot |
| CN109484510B (en) * | 2018-12-14 | 2024-08-27 | 上海卓益得机器人有限公司 | Robot walking mechanism |
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2019
- 2019-11-28 CN CN201911193355.6A patent/CN111301549B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61205567A (en) * | 1985-03-07 | 1986-09-11 | Motoda Electronics Co Ltd | Robot leg mechanism |
| CN104369790A (en) * | 2014-09-04 | 2015-02-25 | 中国科学院合肥物质科学研究院 | Double-foot robot walking mechanism |
| CN105857431A (en) * | 2016-03-29 | 2016-08-17 | 刘子骞 | Robot with reasonable structural design |
| CN108818608A (en) * | 2018-08-24 | 2018-11-16 | 上海哲谦应用科技有限公司 | A kind of parallel Three Degree Of Freedom anthropomorphic robot joint |
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