The invention relates to the technical field of foot type robots, in particular to a five-degree-of-freedom leg for an amphibious humanoid robot. The rehabilitation training device comprises a waist assembly, hip assemblies are symmetrically arranged on the left side and the right side of the bottom of the waist assembly respectively, thigh assemblies are arranged on the two hip assemblies, shank assemblies matched with the thigh assemblies are arranged on the thigh assemblies, and foot assemblies are arranged on the shank assemblies. The humanoid robot is compact and reasonable in structural design, a five-degree-of-freedom driving mode is adopted, the problem of convenient underwater movement of the humanoid robot is effectively solved, the angle of the humanoid robot can be adjusted at will underwater so that the upper body of the humanoid robot can execute commands conveniently, the humanoid robot is suitable for amphibious working scenes, the universality of the humanoid robot is improved, and the humanoid robot is suitable for popularization and application. The problems in the prior art are solved.
本发明涉及足式机器人技术领域,尤其涉及一种水陆两栖人形机器人用五自由度腿。它包括腰部组件,在腰部组件底部左右两侧分别对称设有髋部组件,在两个髋部组件上均设有大腿组件,在两个大腿组件上均设有与之配合的小腿组件,在两个小腿组件上均设有足部组件。它结构设计紧凑且合理,采用五自由度的驱动方式,有效解决了人形机器人在水下便捷移动的问题,可以使人形机器人在水下任意调整角度,以便于其上半身执行命令,并且,适用于水陆两栖的工作场景,提高其通用性,解决了现有技术中存在的问题。
Five-degree-of-freedom leg for amphibious humanoid robot
一种水陆两栖人形机器人用五自由度腿
2025-01-03
Patent
Electronic Resource
Chinese
Humanoid robot capable of performing amphibious operation
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