Title:
WALKING-STABLE HUMANOID BIPED LEG MECHANISM
Document Type and Number:
WIPO Patent Application WO/2023/024372
Kind Code:
A1
Abstract:
A walking-stable humanoid biped leg mechanism, comprising a body (10), two leg mechanisms (20) respectively mounted on either side of the body (10), and foot structures (30) respectively mounted on the two leg mechanisms (20). Each leg mechanism (20) comprises a special four-link mechanism (21) and a curve amplification mechanism (22). The upper end of a first link (211) in the four-link mechanism (21) is hingedly connected to the lower end of a second link (220) of the curve amplification mechanism (22). The lower end of a third link (221) in the curve amplification mechanism (22) is fixedly connected to a foot structure (30). A frame rod (213) in the four-link mechanism (21) is fixed with respect to the body (10). The upper end of a fourth link (222) in the curve amplification mechanism (22) is connected to the outer side of the body (10) by means of a fixing hinge. In an operating state, the foot structures (30) contact the ground to implement impactless stable support with the ground and isochronous and stable biped alternating during a walking process, thus providing gait characteristics conforming to normal walking of a human body.
Inventors:
ZHAN KUIHUA (CN)
QIU ZIJIE (CN)
LU YUHAO (CN)
QIU ZIJIE (CN)
LU YUHAO (CN)
Application Number:
PCT/CN2021/141920
Publication Date:
March 02, 2023
Filing Date:
December 28, 2021
Export Citation:
Assignee:
UNIV SOOCHOW (CN)
International Classes:
B62D57/032
Foreign References:
| CN113511285A | 2021-10-19 | |||
| CN113599782A | 2021-11-05 | |||
| CN113665701A | 2021-11-19 | |||
| CN208947449U | 2019-06-07 | |||
| US20160347387A1 | 2016-12-01 | |||
| CN112896361A | 2021-06-04 |
Attorney, Agent or Firm:
CENTRAL SOUTH WELL INTELLECTUAL PROPERTY OFFICE (CN)
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