The invention provides a bionic biped robot and a stable gait planning method thereof. The robot is composed of an electromechanical control box, two mechanical legs with three degrees of freedom and a joint yaw assembly. The joint yaw assembly controls steering motion of the robot. Each mechanical leg comprises a thigh part, a shank part and a buffer hoof foot; the thigh part adopts a quadrilateral serial mechanism, and a hip joint rolling motor, a hip joint pitching motor and a knee joint pitching motor are arranged at the hip joint; the shank adopts a light carbon fiber structure and is passively controlled; the buffering hoof foot is designed by referring to the characteristics of hoof walking type biological feet. And the robot is simplified into a spring-load inverted pendulum model for kinetic analysis and gait planning, the gait stability is evaluated by adopting a method of combining a Poincare cross section and attraction domain characteristics, the optimal parameters of the stable gait are obtained, and the robustness of the robot in the motion state is ensured. The robot has the characteristics of flexible walking, quick response, high efficiency and energy conservation.
本发明提供了一种仿生双足机器人及其稳定步态规划方法。机器人由机电控制箱和两条分别具有三个自由度的机械腿,以及一个关节偏航组件构成;关节偏航组件控制机器人的转向运动;机械腿包括大腿部、小腿部和缓冲蹄足;大腿部采用四边形串联机构,髋关节处设置髋关节滚动电机、髋关节俯仰电机、膝关节俯仰电机三个电机;小腿采用轻质碳纤维结构,被动控制;缓冲蹄足借鉴蹄行式生物足部特点设计。且本发明将机器人简化为弹簧‑负载倒立摆模型进行动力学分析及步态规划,采用庞加莱截面与吸引域特征相结合的方法评价步态稳定性,并获取稳定步态的最优参数,保证其运动状态下的鲁棒性。机器人具有行走灵活、响应迅速、高效节能的特点。
Bionic biped robot and stable gait planning method thereof
一种仿生双足机器人及其稳定步态规划方法
2022-08-09
Patent
Electronic Resource
Chinese
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