The invention relates to the technical field of robots, and provides a lower limb mechanism and a robot. The lower limb mechanism comprises a thigh assembly, a shank assembly and a foot assembly; at least one of the thigh assembly and the shank assembly and the shank assembly and the foot assembly is connected through a translation assembly, and the translation direction of the translation assembly is perpendicular to the walking direction of the thigh assembly on the horizontal plane. According to the lower limb mechanism, at least one of the thigh assembly and the shank assembly and the shank assembly and the foot assembly is connected through the translation assembly, lateral translation perpendicular to the walking direction is achieved through the translation assembly, the lateral translation only influences the position of the mass center in the lateral direction, and strong coupling is avoided; and thus, the complexity of gait planning and control is simplified.
本发明涉及机器人技术领域,提供一种下肢机构及机器人,该下肢机构包括大腿组件、小腿组件、足部组件;大腿组件与小腿组件之间、小腿组件与足部组件之间至少一个通过平移组件连接,平移组件的平移方向与大腿组件的行走方向在水平面上相垂直。本发明实施例提供的下肢机构,在大腿组件与小腿组件之间、小腿组件与足部组件之间至少一个通过平移组件连接,通过平移组件实现与行走方向垂直的侧向平移,侧向平移只影响质心在侧向上的位置,避免引发强耦合,进而简化步态规划和控制的复杂程度。
Lower limb mechanism and robot
下肢机构及机器人
2024-03-22
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Biped robot lower limb mechanism driven hydraulically
Europäisches Patentamt | 2015
|Hydraulically-driven lower limb mechanism of humanoid robot
Europäisches Patentamt | 2024
|Lower limb rehabilitation robot
IEEE | 2009
|