The invention discloses a walking mechanism and a humanoid robot, and relates to the technical field of humanoid robots. The walking mechanism comprises a hip joint assembly, a thigh assembly and a shank assembly. The hip joint driving motor and the knee joint driving motor are coaxially arranged; one end of the thigh body is connected with the hip joint driving motor, and the hip joint driving motor is used for driving the thigh body to swing; the first ankle joint rotating motor is arranged at one end of the shank body and connected with the knee joint driving motor through a knee joint pull rod, and the knee joint driving motor is used for driving the shank body to swing. One end of the shank body is connected with the other end of the thigh body through a first ankle joint rotating motor, the first ankle joint rotating motor serves as a knee joint rotating shaft, the first ankle joint rotating motor is connected with the foot through a first pull rod, and the first ankle joint rotating motor is used for driving the foot to swing. According to the method, the transmission conversion complexity of the legs of the humanoid robot is reduced, the algorithm solution is simplified, and the segmentation boundary of the rod piece is clearer.
本发明公开了一种行走机构及人形机器人,涉及人形机器人技术领域。该行走机构包括髋关节组件、大腿组件以及小腿组件;髋关节驱动电机与膝关节驱动电机同轴设置;大腿本体的一端与髋关节驱动电机连接,髋关节驱动电机用于驱动大腿本体摆动;第一踝关节旋转电机设于小腿本体的一端,并与膝关节驱动电机通过膝关节拉杆连接,膝关节驱动电机用于驱动小腿本体摆动,小腿本体的一端与大腿本体的另一端通过第一踝关节旋转电机连接且以第一踝关节旋转电机作为膝关节旋转轴,第一踝关节旋转电机与足部通过第一拉杆连接,第一踝关节旋转电机用于驱动足部摆动。本发明降低了人形机器人腿部的传动换算复杂性,有助于简化算法解算,使杆件分割界限更明确。
Walking mechanism and humanoid robot
行走机构及人形机器人
2024-11-08
Patent
Electronic Resource
Chinese