The invention relates to a four-footed passive walking robot which comprises a square trunk, a left front leg, a right front leg, a left rear leg and a right rear leg, the left front leg, the right front leg, the left rear leg and the right rear leg are rotationally connected to the four corners of the trunk, and the left front leg, the right front leg, the left rear leg and the right rear leg are the same in structure and each comprise a leg unit and a foot unit; the leg units are rotatably connected with the trunk to form hip joints, the foot units are fixedly connected with the leg units, the bottom surface of each foot unit is a stepped cambered surface composed of an inner side cambered surface and an outer side cambered surface, and the inner side cambered surface is lower than the outer side cambered surface. According to the technical scheme, the walking continuity is good, the periodicity is good, and the gait stability is good.
本发明涉及一种四足被动行走机器人,包括方形的躯干以及转动连接在躯干四角处的左前腿、右前腿、左后腿及右后腿,所述的左前腿、右前腿、左后腿及右后腿结构相同,均分别包括腿单元及足单元;所述的腿单元与躯干转动连接形成髋关节,所述的足单元与腿单元固定连接,所述足单元的底面为由内侧弧面和外侧弧面组成的阶梯弧面,所述的内侧弧面低于外侧弧面。由上述技术方案可知,本发明行走的持续性好、周期性好,步态的稳定性好。
Four-footed passive walking robot
一种四足被动行走机器人
2025-05-16
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Linear driving walking robot leg structure and parallel four-footed walking robot
European Patent Office | 2015
|