The invention discloses an under-actuated biped robot which comprises a waist, legs and foot soles. The upper ends of the legs are connected with the waist through hip joints. The lower ends of the legs are connected with the foot soles through ankle joints. The under-actuated biped robot is characterized in that each of the ankle joints comprises three driving rods arranged on any three non-overlapped vertical planes where the central axis of the corresponding leg is located, wherein the upper ends of all the driving rods are respectively hinged to the legs, the lower end of each driving rod is hinged to a driven rod, and the lower end of each driven rod is connected with the corresponding foot sole through a spherical joint. According to the under-actuated biped robot, rotation of the joints at any angle is controlled by a plurality of drivers in a linkage mode, so that the flexibility of rotation of the joints at any angle is good, and the precision of rotation of the joints at any angle is high.
Under-actuated biped robot
2015-10-21
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Gait control method of under-actuated biped walking robot
Europäisches Patentamt | 2021
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