The invention relates to a quasi-passive biped walking robot system with a hip vibrator, and aims at solving the problems that an existing active robot is unnatural in gait and high in energy consumption, coronal plane motion of an existing three-dimensional passive robot is unstable, and the reliability degree of a system is poor. The quasi-passive biped walking robot system comprises a hip assembly, two leg assemblies and two foot assemblies, and each leg assembly is arranged between the hip assembly and the corresponding foot assembly. The quasi-passive biped walking robot system further comprises the hip vibrator, and the hip vibrator comprises a speed reducer, a support, a bevel gear pair, a coupling and a gear shaft. The hip assembly comprises a barrel, a gear rack, a guide rail and two annular connecting pieces. Each foot assembly is mainly composed of a foot plate. Each leg assembly comprises a hip and leg connecting piece, a straight leg and a leg and foot connecting piece, and the upper ends of the straight legs are connected with the hip and leg connecting pieces. Stable three-dimension walking of the quasi-passive robot on a slope is achieved, and meanwhile the advantages of being natural in gait and low in power consumption are achieved.
Quasi-passive biped walking robot system with hip vibrator
2015-06-24
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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