From the perspective of facilitating gait planning and control of a biped robot, the invention provides a design method of the lower limb structure size of the biped robot, and provides theoretical and method guidance for the design of the lower limb structure size of the biped robot. Firstly, according to the human body size proportion, the overall height size of lower limbs, the thigh length size of a robot and the shank length size are designed; then, from the perspective of facilitating motion analysis and control of the biped robot, the width size of the lower limbs of the robot is designed; and finally, the sole size of the robot is designed according to the sizes and mass distribution of the upper limbs and the lower limbs of the robot.
本发明从便于双足机器人步态规划与控制的角度出发,提供一种双足机器人下肢结构尺寸的设计方法,为双足机器人下肢结构尺寸的设计提供了理论与方法指导。首先,根据人体尺寸比例,设计下肢的总体高度尺寸,机器人的大腿长度尺寸以及小腿长度尺寸;然后,从便于双足机器人进行运动分析与控制的角度,设计机器人下肢的宽度尺寸;最后,根据机器人上肢以及下肢的尺寸、质量分布,设计机器人的脚掌尺寸。
Design method for lower limb structure size of biped robot
一种双足机器人下肢结构尺寸的设计方法
2020-06-12
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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