The invention provides a humanoid robot and a lower limb device thereof. The lower limb device comprises a hip joint; the first joint motor module, the second joint motor module and the third joint motor module are used for driving the hip joints, and the first joint motor module, the second joint motor module and the third joint motor module are installed on a waist structure of the humanoid robot; the included angle between a first motor shaft of the first joint motor module and a second motor shaft of the second joint motor module is larger than 0 degree, and a third motor shaft of the third joint motor module is perpendicular to the first motor shaft and the second motor shaft. According to the humanoid robot and the lower limb device thereof, by optimizing the layout and angle distribution of the first joint motor module, the second joint motor module, the third joint motor module and the third joint motor module, the torque requirement of a thigh structure for a single joint motor module is lowered, the precision of leg motion control of the humanoid robot is improved, and by improving the distribution of the mass center, the leg motion control precision is improved. The mass center moves upwards, and the motion control difficulty is reduced.

    本申请提供了仿人机器人及其下肢装置,所述下肢装置包括:髋关节;用于驱动所述髋关节的第一关节电机模组至第三关节电机模组,所述第一关节电机模组至所述第三关节电机模组安装在所述仿人机器人的腰部结构上;其中,所述第一关节电机模组的第一电机轴和所述第二关节电机模组的第二电机轴之间的夹角大于0度,所述第三关节电机模组的第三电机轴分别垂直于所述第一电机轴和所述第二电机轴。本申请提供了仿人机器人及其下肢装置,通过优化第一关节电机模组至第三关节电机模组的布局和角度分布,降低大腿结构对单一关节电机模组的力矩需求,提高仿人机器人腿部运动控制的精度,通过改善质量质心的分布,使得质量质心上移,降低运动控制难度。


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    Titel :

    Humanoid robot and lower limb device thereof


    Weitere Titelangaben:

    仿人机器人及其下肢装置


    Erscheinungsdatum :

    14.06.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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