The invention provides a bionic leg and foot structure based on parallel bidirectional driving and a control method of the bionic leg and foot structure. The bionic leg and foot structure based on parallel bidirectional driving comprises thighs, shanks, distributed driving mechanisms and hip joint drivers. The distributed driving mechanism comprises a knee joint bottom driver, a knee joint position driver and a transmission assembly. In the aspect of driving, parallel bidirectional driving is adopted, drivers are distributed at different positions of a leg-foot structure, a control method is provided for achieving efficient leg-foot control according to the characteristics of parallel bidirectional driving, torque generation is divided into high frequency and low frequency, and all joints are driven to rotate. By adding the elastic element, the tendon transmission effect is simulated, joint compliance control is achieved, and the energy utilization rate is increased.
本发明提出一种基于平行双向驱动的仿生腿足结构及其控制方法,所述基于平行双向驱动的仿生腿足结构包括大腿部、小腿部、分布式驱动机构以及髋关节驱动器。所述分布式驱动机构包括膝关节底部驱动器、膝关节关节处驱动器以及传动组件。在驱动方面本发明采用平行双向驱动,将驱动器分布在腿足结构的不同位置,针对平行双向驱动的特性,提供了一种控制方法实现腿足高效控制,将扭矩产生分为高频和低频,驱动各关节转动。并通过添加弹性元件,模拟肌腱传动作用,实现关节柔顺控制,提高能量利用率。
Bionic leg and foot structure based on parallel bidirectional driving and control method thereof
基于平行双向驱动的仿生腿足结构及其控制方法
22.08.2023
Patent
Elektronische Ressource
Chinesisch
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