The invention relates to the technical field of legged robots, and aims to provide a joint coupling driven humanoid robot leg structure and a control method thereof. The whole mechanism has three degrees of freedom which are respectively the flexion and extension movement of the hip joint, the knee joint and the ankle joint, and the hip joint, the knee joint and the ankle joint can flexibly rotate and can reach the human body joint rotation angle range, so that the actions such as jumping can be realized. The invention provides the innovative design of the coupling joint, and has the advantages of enhancing the motion coordination, reducing the control complexity and reducing the energy consumption; on the basis of ensuring sufficient motor torque and proper volume, the appearance and the movement are in line with human body characteristics, and the biological performance advantages of a human body are fully exerted; the structural design is small and exquisite, a joint driving motor moves upwards, and overall light weight is achieved; a control strategy based on power limitation is provided, the Jacobian matrix is utilized to optimize the motor output torque, the system power consumption is further reduced, and the method has a wide social application scene.
本发明涉及腿式机器人技术领域,旨在提出一种关节耦合驱动的人形机器人腿部结构及其控制方法。整体机构一共具有三个自由度,分别为髋关节、膝关节和踝关节的屈伸运动,且髋、膝、踝关节可以灵活旋转并可以达到人体关节转角范围,从而得以实现跳跃等动作。本发明提出了耦合关节的创新性设计,具有增强运动协调性、减少控制复杂性、降低能耗的优点;在保证电机转矩足够及体积合适的基础上,外形和运动方面都符合人体特性,充分发挥人体的生物性能优势;结构设计小巧,关节驱动电机进行了上移,实现了整体轻量化;提出基于功率限制的控制策略,并利用雅可比矩阵优化电机输出力矩,进一步降低系统功耗,具有广泛的社会运用场景。
Joint coupling driven humanoid robot leg structure and control method thereof
一种关节耦合驱动的人形机器人腿部结构及其控制方法
2025-03-04
Patent
Electronic Resource
Chinese
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