Semi-passive walker driven by single motor and steering control method thereof

The invention discloses a semi-passive walker driven by a single motor and a steering control method of the semi-passive walker. The semi-passive walker comprises a walking mechanism, a drive device used for driving the walking mechanism to walk, a steering device used for steering the walker, a data acquisition device used for collecting walking data of the walking mechanism and a main control device used for providing real-time walking schemes for the walking mechanism. By applying the semi-passive walker driven by the single motor and the steering control method of the semi-passive walker, the problem that swinging legs frict with the ground is solved, the drive device is driven by the single motor to provide power for the walking of the walker, a crankshaft is rotated by a synchronous belt wheel mechanism to drive rockers to swing, so that walking is realized. Inner legs are also twisted when being in contact with the ground through a multi-link mechanism, so that the purpose of steering is realized according to the design of arc-shaped soles. The semi-passive walker has the advantage of simple structure, simple operation, stable walking, small leg mass and low energy consumption, and can be widely applied to the fields of rescue, toys, medical treatment and the like.