The invention relates to the technical field of robots, and discloses a robot leg structure, a robot and a robot control method.The leg structure comprises a driving assembly, a thigh part, a shank part and a foot part and further comprises a knee joint connecting rod assembly, a knee joint elastic piece, an ankle joint connecting rod assembly and an ankle joint elastic piece; the first end of the knee joint elastic piece is connected to the shank part, the second end of the knee joint elastic piece is connected to the driving assembly or the thigh part through the knee joint connecting rod assembly, the first end of the ankle joint elastic piece is connected to the foot part, and the second end of the ankle joint elastic piece is connected to the thigh part through the ankle joint connecting rod assembly. According to the robot leg structure, the robot and the robot control method, the knee joint elastic pieces, the ankle joint elastic pieces and the corresponding angle measuring units are arranged, and effective vibration reduction, energy storage and estimation of impact force can be achieved; the elastic pieces are arranged outside the joint parts, the layout mode is flexible, and the structure is simple; and the response frequency is fast.
本发明涉及机器人技术领域,公开了一种机器人腿部结构、机器人及机器人控制方法,其中腿部结构包括:驱动组件、大腿部、小腿部和足部,还包括:膝关节连杆组件、膝关节弹性件、踝关节连杆组件和踝关节弹性件,膝关节弹性件的第一端连接于小腿部,膝关节弹性件的第二端通过膝关节连杆组件连接于驱动组件或连接于大腿部,踝关节弹性件的第一端连接于足部,踝关节弹性件的第二端通过踝关节连杆组件连接于大腿部。本发明提供的一种机器人腿部结构、机器人及机器人控制方法,设置膝关节弹性件和踝关节弹性件及相应角度测量单元,可实现对冲击力有效的减振、储能和估计;且弹性件设置在关节部位外部,布局方式灵活,结构简单;且响应频率较快。
Robot leg structure, robot and robot control method
机器人腿部结构、机器人及机器人控制方法
2023-05-16
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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