KR20190005501A - Biped walking robot without using degree of freedom of roll direction and its biped walking method - Google Patents

Abstract

The present invention relates to a bipedal walking robot capable of performing a stable bipedal walking without using degrees of freedom of a roll direction during the bipedal walking of a robot having degrees of freedom of multi-joint, and a bipedal walking method thereof. According to one embodiment of the present invention, the bipedal walking robot comprises: at least left and right pitch joint units forming left and right legs of the robot with left/right symmetricity, and having degrees of freedom of a pitch direction; left and right foot housings connected to the lowermost pitch joint unit among the pitch joint units in the left and right legs of the robot, and coming in contact with the ground; left and right roll joint replacing members installed in the left and right foot housings, respectively, and protruding to the inside of the left and right foot housings by a control signal; and a control unit to control operation of the left and right pitch joint units, and the left and right roll joint replacing member for bipedal walking of the robot. During the bipedal walking of the robot, the control unit controls the operation of the pitch joint unit of the left and right legs of the robot, and at the same time, controls the operation of the right and left roll joint replacing member corresponding to the operation of the pitch joint unit.

Description

Technical Field [0001] The present invention relates to a biped walking robot and a biped walking robot,

The present invention relates to a bipedal walking robot and a biped walking method therefor. More particularly, the present invention relates to a bipedal walking robot capable of stable bipedal walking without using a degree of freedom in the direction of roll in bipedal walking, .

Research and development of robots is actively being carried out as a field of the 4th industrial revolution. In particular, interest in bipedal walking robots, which operate like humans, is increasing recently. For bipedal walking robots, fine movement and control of each joint is important for stable movement.

FIG. 1 is an exemplary view of a conventional bipedal walking robot, and FIG. 2 is an exemplary view of a joint of two legs of the conventional robot.

Referring to FIG. 1, the biped walking robot 10 is roughly divided into an upper body 11 and a lower body 12. In general, the upper body 11 is composed of a head 13, a body 14, two arms 15L and 15R and hands 16L and 16R, and the lower body 12 comprises two legs 17L and 17R, (18L, 18R).

In the reference numerals, L and R indicate left and right, respectively, and may be described as left and right respectively.

Fig. 2 exemplarily shows the structure of the main joints constituting the lower body 12 of the robot 10 shown in Fig. Each of the legs 17L and 17R of the robot 10 has a shoulder 21L and a shoulder 21R having a degree of freedom in the yaw and Z axis rotation direction on the pelvis region and a plurality of At least one pitch joint portion 23L, 24L, 25L, 23R, 24R, 25R having roll joint portions 22L, 22R, 26L, 26R and a degree of freedom in pitch (Y axis rotation) As a result, the joints of the pelvic region have three degrees of freedom in the yaw, roll, and pitch directions. The feet 27L and 27R are connected to the roll joints 26L and 26R at the lowermost end.

The pitch joints 25L and 25R and the roll joints 26L and 26R are formed at the ankle region so that pitch joints 24L and 24R having two degrees of freedom and having degrees of freedom in the pitch direction are formed at the knee region between the pelvis and ankle 1 Have degrees of freedom.

Each of these joints can be generally constituted by a known actuator, and the operation of each of these joints is controlled by a control unit (not shown), thereby realizing various operations of the robot 10 such as bipedal walking and turning.

As shown in FIG. 2, the biped walking robot 10 generally has six degrees of freedom and twelve degrees of freedom for each of the legs 17L and 17R for bipedal walking such as forward, backward, leftward, and rightward.

However, as another embodiment of the prior art, there are 10 degrees of freedom except for the left side articular portion 21L and the right side articulation portion 21R as a way to make the left turn and right turn slightly unnatural. Further, as another embodiment of the related art, a plurality of pitch joints 23L and 23R for each of the legs 17L and 17R may be implemented as a link structure to form two freedom degrees, thereby achieving a total of eight degrees of freedom.

Thus, even if the degree of freedom is reduced, the roll joints 22L, 22R, 26L, and 26R are kept as they are. The reason for this is that the pitch joint is responsible for the movement of the legs in the anteroposterior direction and the vertical movement of the legs during the bipedal walking of the robot, I am in charge. This will be described in detail with reference to FIG.

FIG. 3 and FIG. 4 are a side view and a front view of a robot joint showing movement of a bipedal joint in a conventional bipedal walking robot.

Fig. 3 (a) is a side view of the leg in a state in which the leg is in a ground state, and Fig. 3 (b) is a side view in a state in which the leg is lifted from the ground. The robot 10 lifts the other leg 17R in a state in which the first leg 17L is set on the ground, for example, among the two legs for forward walking. To this end, the pitch joints 23R, 24R, 25R of the right leg 17R operate in the pitch direction as shown in Fig. 3B. Through the operation in the pitch direction, the right leg 17R is lifted up to another point for forward or backward movement.

At this time, if the right leg 18R is lifted as described above, the center of gravity (COG) of the robot 10 moves from the center P1 to the left P2 as shown in FIG. 4, Collapses and falls to the right. The reason why the bipedal walking robot 10 is difficult to center in bipedal walking is as shown in Fig. 4. In order to walk, one leg should be lifted. At this time, the center of gravity (COG) Because it moves. When you raise your legs, you will fall in the direction of lifting.

Therefore, various walking methods such as ZMP are suggested in order to prevent the center from collapsing like this. As shown in FIG. 5, the ZMP method is a method in which the center of gravity is controlled so that the center of gravity always lies in the foot that is on the ground when the leg is lifted.

In order to realize biped walking of the robot 10 in this manner, the roll joints 22L, 22R, 26L, and 26R must necessarily operate as shown in FIG. That is, in the drawing, to lift the left leg 17L, all the roll joints 22L, 22R, 26L, 26R of the left and right legs 17L, 17R are operated to prevent the center of gravity COG from collapsing do.

5 (a) is a basic posture of the robot 10, and in order to lift the left leg 18L when bipedal walking, the roll joints 22L, 22R, 26L, and 26R are moved And the lower body 12 of the robot 10 is tilted to the right. This is for moving the center of gravity COG to the right leg 17R to prevent the robot 10 from collapsing when lifting the left leg 17L. That is, to prevent the robot 10 from falling to the right when lifting the left leg 17L as shown in (c) hereinafter. (c), lift the left leg (17L) and move it to another position for bipedal walking. Then, the left leg 17L is put back at another point as shown in (d). To move continuously, lift the right leg 17R and repeat the above operation. At this time, in order to walk, the left leg 18L and the right leg 18R are alternately lifted and moved. When the left leg 18L is lifted, it is inclined to the right. When the right leg 18R is lifted, . In this case, in the continuous operation, the robot 10 is shaken to the left and right as a whole while alternately tilting to the left and right.

In such a conventional robot, a roll joint part must be provided for bipedal walking. In this case, although the robot can have a high degree of freedom, the structure of the device is complicated and the price problem due to the roll joint part, durability due to backlash, .

In addition, since the body of the bipedal walking robot 10 must be moved to the left and right, the body of the occupant is shaken to the left and right in the case of the bipedal robot, so that a problem of riding comfort occurs. In the case of carrying heavy loads, There is a technical problem that needs to be controlled.

Furthermore, in order to achieve such a high degree of freedom, a large number of actuators have to be constructed, which hinders low-energy driving. In particular, since the roll joints of the pelvis and the roll joints of the ankle overlap with the pitch joints and have an axis-matching structure, the size of the external appearance of the robot must be larger than two or more actuators in a narrow space, There is a problem that the movement of a larger angle is obstructed by the size.

Korean Patent Publication No. 1687631 Korean Patent Registration No. 0927572 Korean Patent Registration No. 0709556 Korean Patent Laid-Open Publication No. 2013-0095973 Korean Patent Laid-Open Publication No. 2015-0082468

Internet video material https://www.youtube.com/watch?v=BLMkel1XT0c

Accordingly, it is an object of the present invention to provide a bipedal walking humanoid robot capable of bipedal walking without roll joints and a biped walking method therefor.

In addition, the present invention provides a humanoid robot and biped walking method for bipedal walking capable of bipedal walking using only an axial direction degree of freedom without using a degree of freedom in a roll direction.

The bipedal walking robot according to an embodiment of the present invention includes at least one left and right pitch joints each having left and right legs symmetrically and having pitch degrees of freedom; Left and right foot housings connected to the lowermost pitch joints of the pitch joints in the left and right legs of the robot and abutting on the ground, respectively; Left and right roll joint replacement members provided respectively in the left and right foot housings and protruding inward of the left and right foot housings by a control signal; And a control unit for controlling operations of the left and right pitch joint parts and the left and right roll joint replacement parts for bipedal walking of the robot, Controls the operation of the pitch joint part and simultaneously controls the operation of the right / left roll joint replacement part in response to the operation of the pitch joint part.

The bipedal walking robot according to another embodiment of the present invention includes a plurality of roll joints each having left and right legs symmetrically and having left and right legs in a roll direction and at least one roll joints having a degree of freedom in a pitch direction A plurality of joints each including a pitch joint; A left / right foot housing connected to a bottom joint of each of the plurality of joints at the left and right legs of the robot and abutting on the ground, respectively; Left and right roll joint replacement members respectively provided in the left and right foot housings and designed to protrude inward of the left and right foot housings by a control signal; And a controller for controlling operations of the plurality of joint parts and the left and right roll joint replacement parts to biped the robot, wherein the controller controls the roll joint parts of the plurality of joint parts when the robot is bodily walking And controls the operation of the left and right roll joint replacement members simultaneously in response to the operation of the pitch joint.

A biped walking robot according to another embodiment of the present invention includes at least one left / right pitch joint part and a yaw direction freedom part having left and right legs symmetrically and each having a left / A plurality of articulating parts including at least one left / A left and right foot housing connected to the joints at the lower end of the pitch joints at the left and right legs of the robot, Left and right roll joint replacement members provided respectively in the left and right foot housings and protruding inward of the left and right foot housings by a control signal; And a controller for controlling operations of the left and right pitch joints, left and right shoulder joints, and left and right roll joint replacement members, respectively, when the robot is walking on a rotation of the robot, And controls the operation of the pitch joint part and the shoulder joint part and simultaneously controls the operation of the right / left roll joint replacement part in response to the operation of the pitch joint part and the shoulder joint part.

The biped walking robot according to another embodiment of the present invention includes a plurality of left and right roll joints constituting the left and right legs of the robot in bilateral symmetry and having degrees of freedom in the roll direction, A plurality of joints including at least one left / right side pitch joint having at least one left / right pitch joint and at least one left / right side joint having a yaw direction degree of freedom; A left and right foot housing connected to the joints at the lower end of the pitch joints at the left and right legs of the robot, Left and right roll joint replacement members provided respectively in the left and right foot housings and protruding inward of the left and right foot housings by a control signal; And a controller for controlling operations of the left and right pitch joints, left and right shoulder joints, and left and right roll joint replacement members, respectively, when the robot is walking on the revolution, and the control unit controls the plurality of joints The middle roll joint part controls only the left / right pitch joint and the shoulder joint part in a fixed state, and simultaneously controls the operation of the left / right roll joint replacement part in response to the operation of the pitch joint part and the shoulder joint part.

Also, the biped walking method of the biped walking robot according to an embodiment of the present invention includes left and right legs of the robot in left and right symmetry, and includes at least one left / right pitch joint having pitch degrees of freedom A bipedal walking method of a biped walking robot, the method comprising: operating a pitch joint part of a first leg of left and right legs of the robot for bipedal walking of the robot; The roll joint replacement member provided on the foot housing of the second leg on the opposite side of the foot housing of the first leg is moved inward toward the foot housing of the second leg by the action of the pitch joint of the first leg, ; The foot joint member of the second leg is kept protruded while the foot joint of the first leg is moved away from the ground by the motion of the pitch joint of the first leg, A moving step of moving; And a returning step in which the roll joint replacement member of the second leg returns to the initial position in the foot housing of the second leg after the foot housing of the first leg contacts the ground of the other point.

A biped walking method of a biped walking robot according to another embodiment of the present invention includes a plurality of left and right roll joints and pitches each having left and right legs of a robot in left and right symmetry, A biped walking method of a biped walking robot including at least one left / right pitch joint having a directional degree of freedom, the bipedal walking method of the bipedal walking robot comprising: An operation step in which the pitch joint is operated; The roll joint replacement member provided on the foot housing of the second leg on the opposite side of the foot housing of the first leg is moved inward toward the foot housing of the second leg by the action of the pitch joint of the first leg, ; The foot joint member of the second leg is kept protruded while the foot joint of the first leg is moved away from the ground by the motion of the pitch joint of the first leg, A moving step of moving; The roll joint replacement member of the second leg returns to the initial position in the foot housing of the second leg after the foot housing of the first leg contacts the ground of the other point.

According to another aspect of the present invention, there is provided a biped walking method for a biped walking robot, the method comprising the steps of: providing at least one left / right pitch joint having a left / right leg symmetry, The method according to claim 1, wherein the bipedal walking robot includes a plurality of left / right needlelike joints having a yaw directional freedom degree, the bipedal walking method comprising the steps of: An operation step in which an operation is performed; The roll joint replacement member provided on the foot housing of the second leg on the opposite side of the foot housing of the first leg is separated from the foot housing of the second leg by the action of the pitch joint and the ankle joint of the first leg, A protruding step projecting inwardly of the base plate; The foot joint of the first leg is separated from the ground by the operation of the pitch joint part and the ankle joint part of the first leg while maintaining the state where the second joint part of the roll joint is projected, A rotating step of rotating the rotor so as to contact the rotor; And a returning step in which the roll joint replacement member of the second leg returns to the initial position in the foot housing of the second leg after the foot housing of the first leg contacts the ground of the other point.

A biped walking method of a biped walking robot according to another embodiment of the present invention includes a plurality of left and right roll joints constituting left and right legs of a robot in left and right symmetry and having degrees of freedom in a roll direction, A method for bipedal walking of a biped walking robot including at least one left / right pitch joint having a degree of freedom in a direction and a plurality of left / right needles having a yaw directional freedom, An operation step in which the pitch joint part and the urine joint part operate in a state where the roll joint part of the first leg of the robot's left and right legs is fixed; The roll joint replacement member provided on the foot housing of the second leg on the opposite side of the foot housing of the first leg is separated from the foot housing of the second leg by the action of the pitch joint and the ankle joint of the first leg, A protruding step projecting inwardly of the base plate; The foot joint of the first leg is separated from the ground by the operation of the pitch joint part and the ankle joint part of the first leg while maintaining the state where the second joint part of the roll joint is projected, A rotating step of rotating the rotor so as to contact the rotor; And a returning step in which the roll joint replacement member of the second leg returns to the initial position in the foot housing of the second leg after the foot housing of the first leg contacts the ground of the other point.

The bipedal walking robot and biped walking method according to the present invention have the following effects.

According to the present invention, since the roll joint part is not provided, the size and volume of the robot can be reduced and the robot can be made cost competitive.

In addition, it is not necessary to move the body of the robot in the left and right direction when walking on biped, and the ride-on feeling is good because the body of the occupant does not move to the left and right in the case of the boarding type robot. In case of carrying heavy loads, The control cost required for the control is reduced.

Further, according to the present invention, stable bipedal walking is possible without using a roll joint.

In addition, according to the present invention, since the degree of freedom in the roll direction is not used, driving of the actuator is simplified, energy efficiency is improved, and the operation speed is increased.

1 is an exemplary view of a conventional bipedal walking robot,
FIG. 2 is an exemplary view showing joints of two legs of a conventional bipedal walking robot,
FIG. 3 is a side view of a robot joint showing an operation of a bipedal joint in a conventional bipedal walking robot,
FIG. 4 is a front view of a robot joint showing a motion of a bipedal joint in a conventional bipedal walking robot,
FIG. 5 is a front view of a robot joint showing movement of a joint according to walking of a conventional bipedal walking robot;
FIG. 6 is a block diagram of a biped walking robot according to the present invention,
FIGS. 7A to 7C are views illustrating a configuration of a roll joint replacement member according to an embodiment of the present invention;
FIGS. 8A to 8D are views showing joints of a biped walking robot that does not use a roll directional freedom according to an embodiment of the present invention;
9 is a view illustrating an operation of a bipedal walking robot according to an embodiment of the present invention when bipedal walking is performed.
FIG. 10 is a view illustrating a position of a foot housing according to a forward walking of a biped walking robot according to an embodiment of the present invention, FIG.
FIG. 11 is a view illustrating a position of a foot housing according to another embodiment of the present invention,
FIG. 12 is a flowchart illustrating a biped walking method for bipedal walking of a biped walking robot according to an embodiment of the present invention;
13 is a flowchart illustrating a biped walking method for a bipedal walking robot according to another embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

6 is a block diagram of a biped walking robot according to an embodiment of the present invention.

6 shows a configuration of a lower body of the biped walking robot 100. The biped walking robot 100 includes a plurality of joints 110 constituting left and right legs, A roll joint replacement member 130 provided on the right foot housing 120 and the left and right foot housings 120 and a control unit 140 for controlling the operation of the plurality of joint parts 110 and the roll joint replacement member 130, .

The joint part 110 is provided at a joint part of a human to implement the motion of the robot 100, and may be installed, for example, on the pelvis, knee, or ankle part. These joints 110 have at least one degree of freedom. Basically, the present invention includes at least one pitch joint 111 having a degree of freedom in the pitch direction in order to realize movement in the longitudinal direction of the robot 100. Here, the pitch direction means a direction in which the legs of the robot 100 are moved back and forth. Therefore, the pitch joint 111 is used to move the legs, feet, and knees back and forth.

In another embodiment of the present invention, the joint 110 may include at least one of a plurality of roll joints 112 having a degree of freedom in the roll direction or a plurality of shoulder joints 113 having a degree of freedom in the yaw direction As shown in FIG. Here, the roll direction refers to a direction in which the legs of the robot 100 move sideways, and the yaw direction refers to a direction in which the legs of the robot 100 rotate left and right. Thus, the roll joint 112 and the ankle joint 113 are used to move the legs and feet, respectively, in the lateral and rotational directions.

At this time, it is preferable that the plurality of joint parts 110 constitute left and right legs of the robot 100 symmetrically. However, the present invention is not limited thereto.

The foot housing 120 is connected to the joints at the lower end of the plurality of joint parts 110 at the left and right legs and supports the legs by abutting against the ground. It acts like a human foot. The foot housing 120 preferably has a constant area and thickness for stable upright and walking of the robot 100. [

The roll joint replacement member 130 is provided on the left and right foot housings 120 for the left and right legs of the robot 100 and is connected to the left and right foot housings 120 by a control signal of a control unit 140, And protrudes inward.

The control unit 140 controls the operation of the plurality of joint parts 110 and the roll joint replacement member 130. The control unit 140 controls the joint part 110 and the roll joint replacement member 130 to allow the robot 100 to walk and rotate in a stable manner.

The key feature of the embodiment of the present invention is that it is important for the control unit 140 to control the operation of the pitch joint 111 only among the plurality of joints 110 for walking. It is important to control the operation of the roll joint replacement member 130 at the same time.

The controller 140 controls the operation of the pitch joint 111 and the roll joint substitute 130 such that the plurality of joints 110 are formed only of the pitch joint 111, A second embodiment in which a plurality of joint parts 110 are constituted only of the pitch joint part 111 and the roll joint part 112 to realize the legs of the robot 100 and the second embodiment in which a plurality of joint parts 110 are formed in the pitch joint part 111 and the shoulder joints 113 to realize the legs of the robot 100 and the third embodiment in which a plurality of joints 110 are formed on the pitch joint 111, roll joint 112 and shoulder joint 113, To implement the legs of the robot 100. As shown in Fig.

That is, in the first to fourth embodiments of the present invention, the controller 140 operates only the pitch joint 111 and the roll joint substitute 130 to move forward and backward, It is possible to stably perform the forward / backward walking by only the operation of the elements 111 and 130. This will be described in detail below.

In addition, it is important for the control unit 140 to control the operation of only the pitch joint 111 and the shoulder joint 113 among the plurality of joints 110 for walking, It is important to simultaneously control the operation of the roll joint replacement member 130 in response to the operation of the pitch joint 111 and the shoulder joint 113.

The operation control of the pitch joint 111, the shoulder joint 113 and the roll joint replacement member 130 by the control unit 140 is applied to both the third and fourth embodiments described above. That is, in the third and fourth embodiments, the controller 114 operates the pitch joint 111, the shoulder joint 113, and the roll joint substitute 130 only for the robot walking 100) can stably rotate by only the operation of these components (111, 113, 130). This will be described in detail below.

As described above, in the present invention, it is important that the roll joint 112 is not used at all during the walking and turning. It is the core of the present invention to enable a stable bipedal walking (back and forth movement and rotational movement) without using the roll joint direction 112 at all in the roll direction.

7A to 7C are views illustrating operation of a roll joint replacement member according to an embodiment of the present invention.

7A, the roll joint replacement member 130 according to an exemplary embodiment of the present invention is positioned inside the foot housing 120, and the linear actuator 131 is connected to one end of the roll joint substitute member 130. The linear actuator 131 is driven under the control of the control unit 140 and causes the roll joint replacement member 130 to protrude to the outside of the foot housing 120 or to return to the initial position through linear motion. When the roll joint replacement member 130 protrudes to the outside, the lower surface of the roll joint substitute member 130 contacts the ground surface.

Referring to FIG. 7B, the roll joint replacement member 130 according to another exemplary embodiment of the present invention is located inside the foot housing 120 and a first rotation shaft 132 is formed at a portion of the roll joint substitute member 130. It is preferable that the first rotation axis 132 is formed in the vicinity of one edge of the roll joint replacement member 130. The rotary actuator 133 is connected to the roll joint replacement member 130. The rotary actuator 133 is driven under the control of the controller 140 and causes the roll joint replacement member 130 to protrude to the outside of the foot housing 120 through the rotational motion and return to the initial position. When the roll joint replacement member 130 protrudes to the outside as described above, the lower surface of the roll joint substitute member 130 is configured to touch the ground surface.

Referring to FIG. 7C, the roll joint replacement member 130 according to another exemplary embodiment of the present invention is installed on the inner surface of the foot housing 120, and a second rotation shaft 134 is formed on a part of the roll joint substitute member 130 do. It is preferable that the second rotation shaft 134 is formed in the width direction near the end of the roll joint replacement member 130. A rotary actuator 135 is connected to the roll joint replacement member 130. The rotary actuator 135 is driven under the control of the control unit 140 and causes the roll joint replacement member 130 to protrude or return to the initial position through the rotary motion. When the roll joint replacement member 130 protrudes to the outside, the lower surface of the roll joint substitute member 130 contacts the ground surface.

7C, the roll joint replacement member 130 is initially formed in a substantially vertical direction inside the foot housing 120, and the rotary actuator 135 is driven under the control of the control unit 140, The two rotation shafts 134 are horizontally unfolded in the inward direction of the foot housing 120 in the vertical direction. Thus, when the roll joint replacement member 130 is unfolded, the lower surface of the roll joint alternative member 130 is brought into contact with the ground surface.

7A to 7C, the roll joint replacement member 130 is respectively protruded under the control of the control unit 140. At this time, the lower surface of the foot housing 120 and the lower surface of the roll joint replacement member 130 So that the area contacted to the ground surface is widened. At this time, it is preferable that the robot 100 is designed to stably support the leg of the robot 100 with a certain force after the body hits the ground.

In the preferred embodiment of the present invention, when the roll joint replacement member 130 protrudes from the foot housing 120, a rolling member (not shown) for reducing the friction with the ground surface is provided on the roll joint replacement member 130). In this case, when the joint replacement member 130 protrudes from the foot housing 120, a rolling member (not shown) is operated to rotate while touching the ground to reduce friction with the ground.

8A to 8D are views illustrating the configuration of the joints of the legs of the biped walking robot according to the first to fourth embodiments of the present invention.

FIG. 8A is a diagram illustrating an example in which a plurality of joint parts 110 constituting the legs of the robot 100 are constituted by at least one pitch joint part 111 as a first embodiment. The pitch joints 111 may be provided on the pelvis, the knees, and the ankles, respectively, for example, on the left and right legs of the robot 100. Each of these pitch joints 111 has one degree of freedom in the pitch direction, i.e., the front-rear direction of the robot 100.

Here, in the case of the first embodiment, in order for the robot 100 to move forward or backward, the pitch joint portion 111 of at least one of the pelvis, knee, and ankle of the first leg of the left or right leg is operated, The roll joint replacement member 130 of the second leg is opposed to the foot joint 120 of the second leg so as to protrude inward of the foot leg 120 of the second leg.

At this time, the action of the pitch joint part of the first leg and the roll joint replacement member of the second leg may be implemented substantially simultaneously, and preferably, before the pitch joint part of the first leg is operated, It may be operated. It is more preferable that the roll joint replacement member of the second leg protrudes immediately before the foot housing of the first leg is separated from the ground by the pitch joint of the first leg.

FIG. 8B is a diagram illustrating an example in which a plurality of joint parts 110 constituting the legs of the robot 100 are constituted by at least one pitch joint part 111 and a plurality of roll joint parts 112 as a second embodiment. The pitch joint 111 may be installed on the pelvis, knee or ankle, for example, on the left and right legs of the robot 100, and the roll joint 112 may be installed on the pelvis and ankle, for example. Each of the pitch joint 111 and the roll joint 112 has one degree of freedom in the pitch direction in the front and rear direction of the robot 100 and the roll direction in the lateral direction of the robot 100, respectively. In the pelvis and ankle region, the pitch joint 111 and the roll joint 112 have two degrees of freedom. At this time, in order to implement two degrees of freedom simultaneously, corresponding joints may be combined.

In the second embodiment, it is important for the robot 100 to move forward or backward by only operating the pitch joint 111 without operating the roll joint 112. That is, only the pitch joint part 111 of at least one of the pelvis, knee, and ankle of the first leg of the left or right leg is operated while the roll joint part 112 of the left or right leg is fixed as it is, The roll joint replacement member 130 of the second leg is opposed to the foot leg 120 of the second leg in response to the operation of the joint part 111.

At this time, the action of the pitch joint part of the first leg and the roll joint replacement member of the second leg may be implemented substantially simultaneously, and preferably, before the pitch joint part of the first leg is operated, It may be operated. It is more preferable that the roll joint replacement member of the second leg protrudes immediately before the foot housing of the first leg is separated from the ground by the pitch joint of the first leg.

8C is a diagram illustrating an example in which a plurality of joint parts 110 constituting the legs of the robot 100 are constituted by at least one pitch joint part 111 and a plurality of urge joint parts 113 as a third embodiment. The pitch joint 111 may be provided on the pelvis, the knee, or ankle, for example, on the left and right legs of the robot 100, and the ankle joint 113 may be provided on the pelvis and ankle, for example. Each of the pitch joint 111 and the shoulder joint 113 has one degree of freedom in the pitch direction which is the forward and backward direction of the robot 100 and the yaw direction which is the rotation direction of the robot 100. In the pelvis and ankle region, the pitch joint 111 and the roll joint 112 have two degrees of freedom. At this time, the joints 111 and 113 corresponding to the two degrees of freedom may be combined.

In the case of the third embodiment, the robot 100 can be walked back and forth and rotated. It is important that only the pitch joint 111 is operated without operating the shoulder joint 113 for the forward or backward walking of the robot 100. That is, only the pitch joint 111 of the pelvis, the knee, and the ankle of the first leg of the left or right leg is operated while the roll joint 112 of the left or right leg is fixed as it is, The roll joint replacement member 130 of the second leg is opposed to the foot leg 120 of the second leg in response to the operation of the joint part 111.

The pitch joint 111 and the shoulder joint 113 are operated together to allow the robot 100 to pivot left and right. That is, for the rotational gait, the pelvis, the knee, and the ankle joint 113 of at least one of the pelvis and the ankle of the pitch joint 111 of at least one part of the first leg of the left or right leg are operated The roll joint replacement member 130 of the second leg is operated to protrude inward of the foot housing 120 of the second leg in correspondence with the operation of the pitch joint 111 and the shoulder joint 113. Accordingly, the foot housing 130 can be moved by a predetermined distance in the lateral direction by the operation of the pitch joint 111 and the ankle joint 113.

8D shows a fourth embodiment in which a plurality of joint parts 110 constituting the legs of the robot 100 are constituted by at least one pitch joint part 111, a plurality of roll joint parts 112 and a plurality of shoulder joint parts 113 Fig. The pitch joints 111 may be provided on the pelvis, the knees, and the ankles of the left and right legs of the robot 100, respectively. The roll joints 112 may be installed on the pelvis and ankle, For example, the pelvis and the ankle region. The pitch joint 111, the ankle joint 112 and the ankle joint 113 respectively have one degree of freedom in the yaw direction, which is the pitch direction in the front and rear direction of the robot 100, the roll direction in the lateral direction, Respectively. The pelvis and ankle region have three degrees of freedom by the pitch joint 111, roll joint 112 and shoulder joint 113. In this case, in order to simultaneously implement the three degrees of freedom, the corresponding joints 111, 112, and 113 may be combined.

In the case of the fourth embodiment as well, the robot 100 can be moved forward and backward and can walk in the rotational direction. It is important that only the pitch joint 111 is operated without moving the roll joint 112 and the shoulder joint 113 for the forward / backward walking of the robot 100. That is, in the state where the roll joint 112 and the ankle joint 113 of the left or right leg are fixed as they are, only the pitch joint 111 of at least one of the pelvis, knee, and ankle of the first leg of the left or right leg And in response to the motion of the pitch joint 111, the roll joint replacement member 130 of the second leg on the opposite side is operated to protrude inward of the foot housing 120 of the second leg.

If the robot 100 moves in the left and right directions, only the pitch joint 111 and the shoulder joint 113 are operated without operating the roll joint 112. That is, the roll joint part 112 of the left / right leg is fixed to the pitch joint part 111 and the shoulder joint part 111 of at least one of the pelvis, knee, and ankle of the first leg of the left / 113 of the foot leg 120 of the second leg are operated so that the opposite roll joint replacement member 130 of the second leg protrudes inward of the foot housing 120 of the second leg in response to the operation of the pitch joint 111 and the shoulder joint 113 . The foot housing 130 can be moved by a predetermined distance in the lateral direction by the action of the pitch joint 111 and the ankle joint 113.

Here, the operation of the pitch joint part of the first leg and the roll joint replacement member of the second leg may be implemented substantially simultaneously, and preferably, before the pitch joint part of the first leg is operated, It may be operated. It is more preferable that the roll joint replacement member of the second leg protrudes immediately before the foot housing of the first leg is separated from the ground by the pitch joint of the first leg.

In the first to fourth embodiments, the number of joints 111, 112 and 113 can be changed. The number of pitch joints of the knee region may be increased or the number of pitch joints of the pelvis or ankle region may be increased or decreased. It is also possible to increase or decrease the roll and ankle joints of the pelvis and ankle. The number of joints can be designed according to the overall operation of the robot 100. If the number of joints is large, the degree of freedom increases and many operations are performed naturally. However, the cost increases and the size increases. On the other hand, the cost and size problems can be reduced, but the operation becomes unnatural and difficult to control . Therefore, it is important to set the number of joints appropriately in consideration of desired operation and cost.

9 is a view illustrating an operation of a bipedal walking robot according to an embodiment of the present invention when bipedal walking is performed.

In the example shown in Fig. 9, the operation of the joint part of the robot 100 according to the fourth embodiment described in Fig. 8 is described, but the operation of the joint part is applied to all of the first to fourth embodiments.

9A shows a state in which the left and right foot housings 120L and 120R are in contact with the ground as a basic posture of the robot 100. [

9B, the roll joint replacement member 130R of the right foot housing 120R protrudes inward of the right foot housing 120R immediately before lifting the left foot housing 120L from the ground.

Thereafter, as shown in FIG. 9C, the right roll joint replacement member 130R is protruded and the left foot housing 120L is separated from the ground while maintaining contact with the ground, and then moved to the ground at another point do. At this time, when the left foot housing 120 is lifted away from the ground in Fig. 9C, only the pitch joint 111L operates among a plurality of joints. That is, the roll joint 112L and the urge joint 113L do not operate at all, and the right roll joint 112R and the shoulder joint 113R also do not operate at all. This operation is also applied to the first to third embodiments of FIG. That is, the roll joint 112 and / or the shoulder joint 113 do not operate but operate only in the fixed state of the pitch joint 111.

Next, as shown in FIG. 9D, the right foot housing 130R is kept in a protruding state until the left foot housing 120L touches the ground of the other point and becomes stable.

9 (a), the right foot housing 130R returns to its initial position and becomes the basic posture again. 9 (d) to FIG. 9 (a), the left foot housing 120L is in a forward (or backward) stepped state unlike the initial (a). Although this is not illustrated in FIG. 9 by showing the front view of the joint, in reality, the left foot housing 120L moves forward (or backward) one step further than the right foot housing 120R.

 If the movement continues, the right foot housing 120R is stepped through the same process as above. In this case, the roll joint replacement member 130 on the opposite leg of the foot housing 120 is operated to enable stable bipedal walking.

10 is a view illustrating the position of the foot housing according to the forward walking of the biped walking robot according to the embodiment of the present invention.

As described above, in the embodiment of the present invention, the joint part 110 constituting the leg of the robot 100 basically includes the pitch joint part 111, and in other embodiments, the joint part 110 of the robot 100 may additionally include the roll joint part 112 And joints 113. [0031] As shown in FIG.

In FIG. 10, an example in which the legs of the robot 100 are composed of the pitch joint part 111 and the roll joint part 112 will be described for convenience of explanation. However, the same principle of operation according to bipedal walking also applies to the example in which the two legs of the robot 100 are composed of the pitch joint 111 alone.

10 (a) is a basic posture of the biped walking robot 100, and the two foot housings 120L and 120R corresponding to the foot are in contact with the ground, and the respective joints 110 are controlled to stand upright.

10B shows a state in which the left foot housing 120L is lifted up while the two-legged housings 120L and 120R are in contact with the ground. The roll joint replacement member 130R of the right foot housing 120R is operated just before lifting the left foot housing 120L to protrude inward of the right foot housing 120R.

10C shows the left foot housing 120L lifted in a state in which the right foot housing 120R protrudes inward. It is important to note that the roll joints 112L and 112R of the two legs do not operate at all but only the pitch joint 111L of the left leg to raise the left foot housing 120R. No roll direction freedom is used at all. The same applies to the case where there are no roll joint portions 112L and 112R as in the first embodiment. Thus, the left foot housing 120L is separated from the ground according to the operation of the pitch joint part 111L of the left leg.

10C, since the left leg is lifted from the ground without operating the roll joint 112, the center of gravity COG of the robot 100 collapses in the conventional art, The center of gravity COG of the robot 100 is positioned on the roll joint substitute member 130 because the roll joint substitute member 130 protrudes inward of the foot housing 120 so that the robot 100 falls It is possible to walk stable.

As described above, unlike the prior art, the humanoid robot can stably walk without using the degree of freedom in the roll direction.

10 (d) shows a state in which the left foot housing 120L is moved to the ground of another point for the moving walk. That is, in a state in which the right foot housing 120R protrudes inward, the left foot foot joint 111L is operated to lift the foot housing 120L, and then, according to the additional operation of the pitch joint 111L, The foot housing 120L is moved to the ground of the other point so as to fall on the ground.

10E, after the left foot housing 120L touches the ground of another point, the right roll joint replacement member 130R returns to the initial position again. In FIG. 10E, it can be seen that the left foot housing 120L is in a state of being put forward. This means that the robot 100 moves the left leg forward to move forward.

The pitch joint and the roll joint replacement member operate on the opposite legs according to the same principle as shown in FIGS. 10 (b) to 10 (e). However, the pitch joint portion of the leg to be moved and the roll joint replacement member of the opposite leg must be operated in correspondence with each other.

11 is a view illustrating a position of a foot housing according to another embodiment of the present invention.

The joint part 110 constituting the leg of the robot 100 basically includes the pitch joint part 111 but additionally the joint part of the roll joint 112 or the shoulder joint part 113 And may further include at least one or more.

11, an explanation will be given of an example in which the legs of the robot 100 are composed of the pitch joint 111, roll joint 112 and shoulder joint 113 for convenience of explanation. However, this explanation applies to the same principle of operation even in the example in which the two legs of the robot 100 are composed of only the pitch joint 111 and the shoulder 113.

11 (a) is a basic posture of the biped walking robot 100, and the two foot housings 120L and 120R corresponding to the feet touch the ground, and control is performed so that the respective joints 110 stand upright.

11B is a state immediately before the left foot housing 120L is lifted while the two-legged housings 120L and 120R are kept in contact with the ground. The roll joint replacement member 130R of the right foot housing 120R is operated just before lifting the left foot housing 120L to protrude inward of the right foot housing 120R.

11 (c) shows a state in which the left foot housing 120L is lifted in a state in which the right foot housing 120R protrudes inward. The important feature is that the roll joints 112L and 112R of the two legs do not operate at all and only the pitch joint 111L and the shoulder joint 113L of the left leg operate during this operation. That is, no roll direction freedom is used at all.

This is also applicable to the case where the roll joints 112L and 112R are not provided on the two legs as in the third embodiment. Thus, the left foot housing 120L is separated from the ground according to the operation of the pitch joint part 111L of the left leg.

11 (c), since the left leg is lifted from the ground without operating the roll joint 112, the robot 100 has the center of gravity COG in the prior art, Since the roll joint replacement member 130 protrudes inward of the foot housing 120 and touches the ground surface, the center of gravity COG of the robot 100 is moved to the left side of the roll joint substitute member 120, The robot 100 can be stably rotated without being tilted.

As described above, in the present invention, unlike the conventional art, the humanoid robot can stably rotate without using the degree of freedom in the roll direction.

Fig. 11 (d) shows a state in which the left foot housing 120L is moved to the ground of another point for turning. That is, in a state where the right foot housing 120R protrudes inward, the pitch joint portion 111L and the shoulder joint portion 113L of the left leg are operated to lift the left foot housing 120L, The left foot housing 120L is moved to the ground surface of the other point according to the additional operation of the joint part 111L and the ankle joint part 113L. In other words, the left leg is moved in the left direction by a predetermined distance, so that the robot 100 has the effect of rotating in the left direction.

11E, after the foot housing 120L of the left leg contacts the ground of another point, the roll joint replacement member 130R of the right leg returns to the initial position again.

11F is a state in which the left foot housing 120L is rotated to the left so that the right foot housing 120R operates to follow the left foot housing 120L and the two foot housings 120L, 120R are in contact with the ground immediately before lifting the right foot housing 120R. The roll joint replacement member 130L of the left foot housing 120L operates just before lifting the right foot housing 120R to project inward of the left foot housing 120L.

11 (g) is a state in which the right foot housing 120R is lifted so as to rotate so that the right foot housing 120R is aligned with the left foot housing 120L. Also in this case, the roll joints 112L and 112R of the two legs do not operate at all and only the pitch joint 111R and the shoulder joint 113R of the right leg are operated. That is, no roll direction freedom is used at all.

The left roll joint replacement member 130L returns to the initial position after the right foot housing 120R moves to another point and touches the ground as shown in FIGS. 11 (h) and 11 (i).

FIG. 12 is a flowchart illustrating a biped walking method for advancing or backward walking of a bipedal walking robot according to an embodiment of the present invention.

Referring to FIG. 12, the pitch joint part of the first leg of the left and right legs is operated to start bipedal walking for advancing or reversing the robot 100 (S101). The action of this pitch joint is to raise the first leg for forward or backward movement.

Immediately before the foot housing of the first leg is separated from the ground by the action of the pitch joint of the first leg, the roll joint replacement member provided on the foot housing of the opposite leg is moved inwardly of the foot housing of the second leg (S103).

Next, the foot joint of the first leg is released from the ground by the action of the pitch joint of the first leg (S105) while maintaining the state where the second leg's roll joint replacement member is protruded (S105) So as to reach the ground surface of the point (S107).

Subsequently, after the foot housing of the first leg contacts the ground of the other point, the roll joint replacement member of the second leg returns to the initial position in the foot housing of the second leg (S109).

The biped walking method of FIG. 11 basically applies to an example in which a plurality of joint portions 110 constituting the two legs of the robot 100 are constituted by only the pitch joint portion 111, but the present invention is not limited thereto and a plurality of joint portions 110 also apply to the example including the pitch joint 111 as well as the roll joint 112 and / or the shoulder 113. [

When the robot 100 further includes the roll joint 112 and / or the shoulder joint 113 as in the latter case, the roll joint 112 and / or the shoulder joint 113 do not operate and are fixed Only the pitch joint 111 is operated. This makes it possible to stably perform the forward / backward movement of the robot 100 by using only the degrees of freedom in the pitch direction without using the roll direction and / or the yaw direction freedom degrees.

FIG. 13 is a flowchart illustrating a biped walking method for bipedal walking of a biped walking robot according to another embodiment of the present invention.

Referring to FIG. 13, the pitch joint and the ankle joint of the first leg of the left and right legs are operated (S201) for the left or right turning of the robot 100. The motion of the pitch joint and the ankle joint is an operation for lifting and rotating the first leg for a rotational gait.

Immediately after the foot housing of the first leg is separated from the ground by the action of the pitch joint portion and the ankle joint portion of the first leg, the roll joint replacement member provided on the foot housing of the second leg is inserted into the foot housing of the second leg (S203).

Next, the foot joint of the first leg is rotated away from the ground by the operation of the pitch joint part and the ankle joint part of the first leg (S205) while maintaining the second joint part of the rolled joint member protruding (S205) And moves to reach the ground of the other point (S207).

Here, in step S205, the operation of rotating the foot housing of the first leg from the ground and the rotating operation may be implemented simultaneously, or one of them may be implemented first with a predetermined time difference.

Subsequently, after the foot housing of the first leg contacts the ground of the other point, the roll joint replacement member of the second leg returns to the initial position in the foot housing of the second leg (S209).

13 is basically applied to an example in which a plurality of joint portions 110 constituting the two legs of the robot 100 are composed of only the pitch joint portion 111 and the shoulder joint portion 113. However, The present invention is not limited to this and is also applied to an example in which a plurality of joint portions 110 further include the pitch joint portion 111 and the shoulder joint portion 113 as well as the roll joint portion 112 selectively.

When the robot 100 further includes the roll joint part 112 as in the latter case, the roll joint part 112 does not operate during the left or right turning of the robot 100 and the pitch joint part 111 and the ankle joint part 113 are fixed, . This makes it possible to stably perform the left / right rotation of the robot 100 by using only the pitch direction and the yaw direction freedom degree without using the roll direction freedom degree.

12 and 13, it is preferable that the center of gravity of the robot is positioned on the protruded roll joint replacement member when the roll joint replacement member protrudes inward of the foot housing when the robot 100 is moved back and forth . This is to keep the center of gravity intact to prevent it from falling down due to the movement of the center of gravity by not using the roll directional degrees of freedom.

12 and 13, in steps S103 and S203, the linear actuator is operated by the control signal of the control unit to push the roll joint replacement member from the foot housing of the second leg into the linear motion, or the rotary actuator Or the rotary actuator is operated by the control signal to rotate the roll joint replacement member on the side of the foot housing of the second leg so as to touch the ground surface by operating the roll joint alternative member from the foot housing of the second leg, can do.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments. Those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope of the appended claims, The genius will be so self-evident. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: Bipedal walking robot 110: Joint part
111: pitch joint 112: roll joint
113: articulation part 120: foot housing
130: roll joint replacement member 140:

Claims (28)

At least one left / right pitch joint having left and right legs symmetrical to each other and having pitch degrees of freedom;
Left and right foot housings connected to the lowermost pitch joints of the pitch joints in the left and right legs of the robot and abutting on the ground, respectively;
Left and right roll joint replacement members provided respectively in the left and right foot housings and protruding inward of the left and right foot housings by a control signal;
And a controller for controlling operations of the left and right pitch joint parts and the left and right roll joint replacement parts for bipedal walking of the robot,
Wherein the control unit controls the operation of the pitch joints of the left and right legs of the robot when biped walking of the robot and simultaneously controls the operation of the right and left roll joint replacement members in response to the motion of the pitch joints. A plurality of joints each of which comprises left and right legs of the robot in left and right symmetry, each of the joints including a plurality of roll joints each having a roll directional freedom and at least one pitch joint having a pitch directional freedom;
A left / right foot housing connected to a bottom joint of each of the plurality of joints at the left and right legs of the robot and abutting on the ground, respectively;
Left and right roll joint replacement members respectively provided in the left and right foot housings and designed to protrude inward of the left and right foot housings by a control signal;
And a controller for controlling operations of the plurality of joint parts and the left and right roll joint replacement parts for bipedal walking of the robot,
Wherein the controller controls the at least one pitch joint part to operate in a fixed state of the roll joint parts of the plurality of joint parts during biped walking of the robot and controls the operation of the left and right roll joint replacement parts in response to the operation of the pitch joint part A biped robot that controls the robot simultaneously. 3. The method according to claim 1 or 2,
Wherein the controller controls the roll joint replacement member of the second leg to operate in response to the motion of the pitch joint of the first leg of the left or right leg of the robot when bodily walking the robot. The method of claim 3,
Wherein the controller controls the pitch joint part of the first leg so that the roll joint replacement member of the second leg protrudes inward of the foot housing of the second leg immediately before the foot housing of the first leg falls from the ground A biped robot that controls as much as possible. 5. The method of claim 4,
The controller controls the roll joint replacement portion of the second leg to remain in a protruded state while the foot housing of the first leg is separated from the ground, and after the foot housing of the first leg contacts the ground of another point, And the roll joint replacement member of the second leg is returned to the initial position. 3. The method of claim 2,
Wherein the roll joints of the plurality of joint parts are respectively provided at the pelvis and the forward part of the left and right legs of the robot and the at least one pitch joint part of the plurality of joint parts is installed between the pelvis and the ankle part. The method according to claim 6,
Wherein the joint part of the pelvis and the ankle part is integrally formed with the roll joint part and the pitch joint part and has two degrees of freedom in the roll direction and the pitch direction. 8. The method according to any one of claims 1 to 7,
Wherein the center of gravity of the robot is positioned on the protruded roll joint replacement member when the roll joint replacement member protrudes inward of the foot housing when the robot is bodily walking. A plurality of left and right leg joints each having at least one left / right pitch joint having a degree of freedom in pitch direction and at least one left / right ankle joint having a degree of freedom in yaw direction, Joints of;
A left and right foot housing connected to the joints at the lower end of the pitch joints at the left and right legs of the robot,
Left and right roll joint replacement members provided respectively in the left and right foot housings and protruding inward of the left and right foot housings by a control signal;
And a controller for controlling operations of the left and right pitch joints, the left and right shoulder joints, and the left and right roll joint replacement members when the robot is walking on the rotation,
The control unit controls the operation of the left and right pitch joints and the shoulder joints when the robot is walking on the rotation, and controls the operation of the right and left roll joint replacement members simultaneously in response to the motion of the pitch joint and the shoulder joints. robot. A plurality of left and right roll joints each having left and right legs symmetrically arranged on the left and right sides of the robot and having degrees of freedom in a roll direction, at least one left and right pitch joints having pitch degrees of freedom, A plurality of joints including at least one left / right needles having directional degrees of freedom;
A left and right foot housing connected to the joints at the lower end of the pitch joints at the left and right legs of the robot,
Left and right roll joint replacement members provided respectively in the left and right foot housings and protruding inward of the left and right foot housings by a control signal;
And a controller for controlling operations of the left and right pitch joints, the left and right shoulder joints, and the left and right roll joint replacement members when the robot is walking on the rotation,
Wherein the control unit controls the left and right pitch joints and the shoulder joints to operate only when the roll joints of the plurality of joints are in a fixed state when the robot is walking on the rotation of the robot, A biped walking robot that simultaneously controls the motion of a roll joint replacement member. 11. The method according to claim 9 or 10,
Wherein the controller controls the roll joint replacement member of the second leg to operate in response to the motion of the pitch joint and the shoulder joint of the first leg of the left or right leg of the robot when the robot is walking. 12. The method of claim 11,
Wherein the control unit controls the pitch joint member and the shoulder joint member of the first leg so that when the foot housing of the first leg falls from the ground, The bipedal walking robot controls the foot to protrude toward the inside of the foot housing. 13. The method of claim 12,
The controller controls the roll joint replacement portion of the second leg to remain in a protruded state while the foot housing of the first leg is separated from the ground, and after the foot housing of the first leg contacts the ground of another point, And the roll joint replacement member of the second leg is returned to the initial position. 11. The method of claim 10,
Wherein the roll joint part of the plurality of joint parts is respectively installed at the pelvis and the supporting part of the left and right legs of the robot and the at least one pitch joint part of the plurality of joint parts is installed between the pelvis and the ankle part. 16. The method according to any one of claims 9 to 15,
Wherein the center of gravity of the robot is positioned on the protruded roll joint replacement member when the roll joint replacement member protrudes inward of the foot housing when the robot is bodily walking. 11. A method according to any one of claims 1, 2, 9, or 10,
The roll joint replacement member is located inside the foot housing and the linear actuator is connected to the osteointegraph substituting member to return the roll joint replacement member to the outside of the foot housing and return to the initial position through the linear movement of the linear actuator unit And the linear actuator unit is driven by the control unit. 11. A method according to any one of claims 1, 2, 9, or 10,
Wherein the roll joint replacement member is located inside the foot housing and has a first rotation shaft formed on the roll joint replacement member and rotates the first rotation shaft to project the roll joint replacement member to the outside of the foot housing and return to the initial position, And the rotary actuator unit is driven by the control unit. 11. A method according to any one of claims 1, 2, 9, or 10,
The roll joint replacement member is provided on the inner surface of the foot housing and a second rotation shaft is formed on the roll joint substitute member and the second rotary shaft is rotated so that the roll joint replacement member protrudes from the foot housing and returns to the initial position. And the rotary actuator unit is driven by the control unit. 11. A method according to any one of claims 1, 2, 9, or 10,
Wherein the roll joint replacement member is provided on a lower surface of the roll joint replacement member, and a rolling member for reducing friction with the ground when the roll joint replacement member is projected from the foot chassis. A biped walking method of a biped walking robot comprising at least one left / right pitch joint having left and right legs symmetrically and each having a pitch direction freedom,
An operation step in which the pitch joint of the first leg of the left and right legs of the robot is operated for bipedal walking of the robot;
The roll joint replacement member provided on the foot housing of the second leg on the opposite side of the foot housing of the first leg is moved inward toward the foot housing of the second leg by the action of the pitch joint of the first leg, ;
The foot joint member of the second leg is kept protruded while the foot joint of the first leg is moved away from the ground by the motion of the pitch joint of the first leg, A moving step of moving; And
Wherein the roll joint replacement member of the second leg returns to the initial position in the foot housing of the second leg after the foot housing of the first leg contacts the ground of the other point. A bipedal walk comprising a plurality of left / right roll joints each having left / right legs symmetrically symmetrically and having degrees of freedom in a roll direction and at least one left / right pitch joint having pitch degrees of freedom In a bipedal walking method of a robot,
An operation step of operating the pitch joint part in a state where the roll joint part of the first leg of the robot is bored for bipedal walking of the robot;
The roll joint replacement member provided on the foot housing of the second leg on the opposite side of the foot housing of the first leg is moved inward toward the foot housing of the second leg by the action of the pitch joint of the first leg, ;
The foot joint member of the second leg is kept protruded while the foot joint of the first leg is moved away from the ground by the motion of the pitch joint of the first leg, A moving step of moving;
Wherein the roll joint replacement member of the second leg returns to the initial position in the foot housing of the second leg after the foot housing of the first leg contacts the ground of the other point. A bipedal walk comprising at least one left / right pitch joint having pitch degrees of freedom and a plurality of left / right needles having yaw direction degrees of freedom, each of which constitutes left / right legs of the robot in bilateral symmetry; In a bipedal walking method of a robot,
An operation step in which a pitch joint part and a shoulder joint part of a first leg of left and right legs of the robot are operated for a revolution of the robot;
The roll joint replacement member provided on the foot housing of the second leg on the opposite side of the foot housing of the first leg is separated from the foot housing of the second leg by the action of the pitch joint and the ankle joint of the first leg, A protruding step projecting inwardly of the base plate;
The foot joint of the first leg is separated from the ground by the operation of the pitch joint part and the ankle joint part of the first leg while maintaining the state where the second joint part of the roll joint is projected, A rotating step of rotating the rotor so as to contact the rotor; And
Wherein the roll joint replacement member of the second leg returns to the initial position in the foot housing of the second leg after the foot housing of the first leg contacts the ground of the other point. A plurality of left and right roll joints each having left and right legs symmetrically arranged on the left and right sides of the robot and having degrees of freedom in a roll direction, at least one left and right pitch joints having pitch degrees of freedom, A biped walking method of a biped walking robot including a plurality of left / right needles having directional degrees of freedom,
An operation step in which the pitch joint part and the ankle joint part are operated in a state in which the roll joint part of the first leg of the left and right legs of the robot is fixed for the revolution of the robot;
The roll joint replacement member provided on the foot housing of the second leg on the opposite side of the foot housing of the first leg is separated from the foot housing of the second leg by the action of the pitch joint and the ankle joint of the first leg, A protruding step projecting inwardly of the base plate;
The foot joint of the first leg is separated from the ground by the operation of the pitch joint part and the ankle joint part of the first leg while maintaining the state where the second joint part of the roll joint is projected, A rotating step of rotating the rotor so as to contact the rotor; And
Wherein the roll joint replacement member of the second leg returns to the initial position in the foot housing of the second leg after the foot housing of the first leg contacts the ground of the other point. 24. The method according to any one of claims 20 to 23,
Wherein the center of gravity of the robot is positioned on the protruded roll joint replacement member when the roll joint replacement member protrudes inward of the foot housing when the robot is walking. 24. The method according to any one of claims 20 to 23,
Wherein the protruding step includes the step of actuating the linear actuator by a control signal to push the roll joint replacement member from the foot housing of the second leg into a linear motion. 24. The method according to any one of claims 20 to 23,
Wherein the protruding step includes the step of actuating the rotary actuator by a control signal to push the roll joint replacement member from the foot housing of the second leg into the rotary motion. 24. The method according to any one of claims 20 to 23,
Wherein the protruding step includes the step of causing the rotary actuator to operate by a control signal to rotate the roll joint replacement member on the side of the foot housing of the second leg so as to touch the ground surface. 24. The method according to any one of claims 20 to 23,
Wherein the protruding step is operated such that the rolling member provided on the lower surface of the roll joint replacement member rotates to contact the ground when the roll joint replacement member protrudes from the foot housing to reduce friction with the ground.

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