The invention relates to the technical field of robots, and discloses a point-foot type biped robot which comprises a robot body, and the robot body comprises a fixing frame; the left leg structure and the right leg structure are symmetrically arranged on the fixing frame, the left leg structure and the right leg structure only comprise three joints, and the feet are fixed feet and are in flexible point contact with the ground. According to the biped robot, the two symmetrically-arranged leg structures are arranged, each leg structure only comprises three degrees of freedom, walking can be achieved through cooperation of joints of the three degrees of freedom, the design of the leg structures is simplified, the control data volume is remarkably reduced, the control instruction response speed is increased, and the control difficulty is remarkably reduced; and no sole or driving device for driving the sole is arranged on the foot of the robot, and the mass of the leg structure is basically concentrated at the upper end of the leg structure, so that the lower limb mass of the robot is less, the walking inertia is small, the control difficulty is favorably reduced, and the advantages of reducing the energy consumption and the manufacturing cost are achieved.

    本申请涉及机器人技术领域,公开了一种点足式双足机器人、机器人,包括机身,所述机身包括固定架;对称设置于所述固定架之上的左腿结构和右腿结构,左腿结构和右腿结构仅包括三个关节,足为不可动足,与地面之间柔性点接触。本申请的双足机器人通过设置对称设置的两个腿结构,腿结构仅包括三个自由度,通过三个自由度关节协作即可实现行走,简化了腿结构的设计,控制数据量显著减少,提升控制指令响应速度,显著降低了控制难度,且机器人在足部不设置脚掌和驱动脚掌的驱动装置,腿结构的质量基本集中在腿结构上端,从而使机器人下肢质量较少,行走惯量小,不仅有利于降低控制难度,且具有降低能耗、制造成本的优点。


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    Title :

    Point-foot type biped robot and robot


    Additional title:

    点足式双足机器人、机器人


    Contributors:
    CHEN JIAN (author) / SHEN CONG (author)

    Publication date :

    2023-12-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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