The invention relates to the field of jumping robots, in particular to a hydraulically-driven two-degree-of-freedom coupling type humanoid-leg jumping robot and a control method thereof. The overall structure of the robot simulating jumping of the human legs is composed of a driving assembly, a thigh assembly and a shank assembly. The designed jumping robot is simplified into an SLIP model, a PID controller is adopted in the jumping process to achieve control over the flying phase of the jumping robot, and a PD controller is adopted in the landing phase for control. The hydraulic cylinders are far away from the legs, so that the hydraulic cylinders are driven to move to the upper body, and the whole robot has better attractiveness. And meanwhile, the lightweight design of the legs is achieved, the inertia of the legs is reduced, and the robot has more stable dynamic performance. And the vertically placed hydraulic cylinder is designed, so that the driving efficiency is further improved, and finally, more efficient bionic jumping movement is realized.
本发明涉及跳跃机器人领域,特别涉及一种液压驱动的二自由度耦合式仿人腿跳跃机器人及其控制方法。所发明的仿人腿跳跃机器人的总体结构由驱动组件、大腿组件和小腿组件组成;并把设计的跳跃机器人简化为一个SLIP模型,在跳跃过程中采用PID控制器实现跳跃机器人腾空相的控制,在着地相采用PD控制器控制。其中液压缸远离腿部,使驱动移到上身,使机器人整体具备更好的美观性。同时,实现了腿部的轻量化设计,减少了腿部的惯性,使机器人具备更稳定的动态性能。设计竖直放置液压缸,进一步提高了驱动效率,最终实现了更为高效的仿生跳跃运动。
Hydraulically-driven two-degree-of-freedom coupling bionic jumping robot
一种液压驱动的二自由度耦合仿生跳跃机器人
2025-03-21
Patent
Electronic Resource
Chinese