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Foot plate structure of humanoid robot capable of perceiving ground counterforces

A humanoid robot and foot plate technology, applied in the field of humanoid robots, can solve the problems of inability to control the adaptability of the robot, no computing robot, and inability to communicate, so as to increase the ability to adapt to the ground environment, reduce the volume and weight, and protect the power The effect of the sensor

Inactive Publication Date: 2009-10-14
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] 4. The force sensor installed on the shoe to sense the ground reaction force only has an amplification circuit, and there is no controller for calculating the zero moment point (ZMP) when the robot walks, and it cannot communicate with the upper controller of the robot foot, resulting in wearing the shoe. The robot can only sense the force on the ground at the front of the foot and the heel, and cannot control the adaptability of the robot's feet to the ground environment
Poor stability of robot walking

Method used

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  • Foot plate structure of humanoid robot capable of perceiving ground counterforces
  • Foot plate structure of humanoid robot capable of perceiving ground counterforces
  • Foot plate structure of humanoid robot capable of perceiving ground counterforces

Examples

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Effect test

Embodiment 1

[0032] like Figure 1-7 As shown, a footboard structure of a humanoid robot capable of sensing ground reaction force is composed of two footboards, each footboard mainly includes an upper board 1, a lower board 2, a force sensor 5, a rectangular rubber pad 6, a circuit board 7, Rubber guide blocks 10.

[0033] The upper plate 1 is a rectangular plate with side plates at both ends, and its material is light aluminum alloy with a thickness of 3mm. Adjustment holes 3 for adjusting the height of the feet are respectively provided on the side plates at both ends. The upper board 1 is fixedly connected with the lower board 2 through the adjustment holes 3 and screws. There are screw holes 8 on the surface of the upper board 1. Through the screw holes 8 And screws are fixedly connected with the circuit board 7 below the upper deck 1 and the ankle above the upper deck respectively.

[0034] The lower plate 2 is a rectangular plate with side plates at both ends, and its material is l...

Embodiment 2

[0067] A foot plate structure of a humanoid robot capable of sensing ground reaction force, the same as embodiment 1, is characterized in that: force sensor 5 is nine model FC23 common commercially available force sensors, the thickness of upper plate 1 is 2mm, and the thickness of lower plate 2 The thickness of the rubber guide block 10 is 6mm, the thickness of the rectangular rubber pad 6 is 1mm, and the used operational amplifier of the small signal amplification filter circuit of the circuit board 7 is a commercially available common operational amplifier AD620.

Embodiment 3

[0069] A foot plate structure of a humanoid robot capable of sensing ground reaction force, the same as embodiment 1, is characterized in that force sensor 5 is nine model NS-TH13 common commercial force sensors, the thickness of the upper plate 1 is 5mm, the lower plate The thickness of plate 2 is 5mm, and the thickness of rubber guide block 10 is 9mm, and the thickness of rectangular rubber pad 6 is 3mm, and the used operational amplifier of the small signal amplifying filter circuit of circuit board 7 is the commercially available common operational amplifier OP07.

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Abstract

The invention discloses a foot plate structure of a humanoid robot capable of perceiving ground counterforces, which relates to a foot structure of the humanoid robot. The foot plate structure consists of two foot plates. Each foot plate mainly comprises an upper plate, a lower plate, a force sensor, a circuit board, a rubber lead block and a rectangle rubber pad. The foot plate structure has the characteristics of small volume, lightweight, surface contact with ground, the capability of perceiving ground counterforce and adapting ground environment, simple structure, low cost, good detection effect and adjustable height. The foot plate structure can detect the magnitude of the counterforce perceived by different parts of the foot in real time, and can calculate the position of zero moment point (ZMP) in real time, also can communicate with an upper controller in real time and is convenient for popularization and application. The foot plate structure can be widely used as the foot structures of humanoid robots, particularly applicable to the foot structures of small humanoid soccer robots.

Description

1. Technical field [0001] The invention belongs to the technical field of humanoid robots, and in particular relates to the foot structure of humanoid robots. 2. Background technology [0002] In the research of humanoid robot motion control method, how to enhance its adaptability in unknown environment has always been one of the focus of research. Among them, installing force sensors on the humanoid robot mechanism to enhance the robot's environmental adaptability has become a development trend in the research of humanoid robot control technology. Japan's Waseda (WASETA) University has applied a six-dimensional force / torque sensor in the biped walking robot WL-12RIII they developed, and the force sensor is installed on the calf. The humanoid robots P2, P3 and ASIMO of Honda (HONDA) in Japan all use integrated six-dimensional force / torque sensors to obtain ground reaction force information and form an attitude control system to adapt to uneven ground and enhance dynamic wal...

Claims

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Application Information

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IPC IPC(8): B62D57/032G01L5/00
Inventor 李祖枢薛方正王晓龙张琦王波
Owner CHONGQING UNIV
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