A bipedal walking robot uses a quasi-passive control scheme and a simplified mechanical design. The walking robot has a pair of legs connected to a body through a passive hip joint, which is offset from a center of gravity of the walking robot. A nonconcentric, curved foot is attached at to each leg by a prismatic joint. Extension and retraction of the prismatic joint initiates the walking sequence of the robot, with each foot retracted during the swing phase and extended during the stance phase. Directional changes are controlled by changing a phase offset in the actuation of each foot.
THREE-DIMENSIONAL PASSIVE WALKING ROBOT
18.04.2024
Patent
Elektronische Ressource
Englisch
Leg configuration for rotatably driven three-dimensional walking robot
Europäisches Patentamt | 2015
|Intelligent three-dimensional laser scanning four-foot walking robot
Europäisches Patentamt | 2024
|Mechanical structure of three-dimensional human-simulated biped walking robot and walking method
Europäisches Patentamt | 2015
|