The invention relates to a foot-type robot and a motion control method thereof, the foot-type robot comprises a leg-foot main body, the leg-foot main body comprises a first motor, a second motor, a thigh and a shank, the second motor is connected with an output shaft of the first motor and the thigh, the shank is hinged to the thigh, and the second motor is in transmission connection with the shank; the first limiting structure is arranged or formed on the first motor and/or the second motor and used for limiting rotation of the second motor relative to the first motor when the leg and foot main body is switched from the motion state to the standing state; the second limiting structure is arranged or formed on the thigh and/or the shank and used for limiting rotation of the shank relative to the thigh when the leg-foot body is switched from the motion state to the standing state; and the control device is electrically connected with the first motor and the second motor and used for controlling the first motor and the second motor to stop outputting power when the leg and foot main body is switched from the motion state to the standing state, at the moment, the first limiting structure, the second limiting structure and the leg and foot main body are mechanically limited, and energy consumption of the battery is reduced.
本申请涉及一种足式机器人及其运动控制方法,足式机器人包括:腿足主体,包括第一电机、第二电机、大腿及小腿,第二电机分别与第一电机的输出轴、大腿相连,小腿与大腿铰接,第二电机与小腿传动连接;第一限位结构,设置或形成于第一电机和/或第二电机,用于在腿足主体由运动状态切换至站立状态时限制第二电机相对第一电机转动;第二限位结构,设置或形成于大腿和/或小腿,用于在腿足主体由运动状态切换至站立状态时限制小腿相对大腿转动;控制装置,与第一电机、第二电机电连接,用于在腿足主体由运动状态切换至站立状态时,控制第一电机及第二电机停止输出动力,此时第一限位结构、第二限位结构与腿足主体机械限位,减少电池能量消耗。
Foot type robot and motion control method thereof
足式机器人及其运动控制方法
2023-11-14
Patent
Elektronische Ressource
Chinesisch
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