The invention relates to an under-actuated walking apparatus and a control method for the same and belongs to the technical field of semi-actuated walking. The apparatus comprises a crankshaft, a platform, a supporting block, hip parts, leg parts and a control device, wherein the crankshaft provides rotating power for the leg parts; the supporting platform can support the walking device; a left hip joint and a right joint and the control device are fixed on the platform; the hip parts are included by a left hip part and a right hip part; each hip part is connected with an internal straight leg and an external straight leg via a crankshaft rocking rod; the lower end of each straight leg is fixedly connected with a spherical foot part; the control device is formed by a data collection device, a driving device and a main control device; information acquired by the data collection device can be processed by the main control device in real time; and rotating speed of the a transmission motor can be adjusted by the driving device controlled by the control device. The under-actuated walking apparatus is simply structured with convenient use and easy manufacturing; a problem that 2D walking swinging legs have friction with the ground can be overcome; the walking apparatus can walk naturally, possesses large parameter attraction domain and low energy consumption; and the under-actuated walking apparatus possesses large application use in daily life.
Under-actuated walking apparatus and control method for same
2015-10-21
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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