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
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[0031]Example 1
[0032] Such as Figure 1~7 As shown, a foot plate structure of a humanoid robot capable of sensing ground reaction force is composed of two foot plates. Each foot plate mainly includes an upper plate 1, a lower plate 2, a force sensor 5, a rectangular rubber pad 6, a circuit board 7, Rubber guide block 10.
[0033] The upper plate 1 is a rectangular plate with side plates at both ends, and its material is a lightweight aluminum alloy with a thickness of 3 mm. The two end side plates are respectively provided with adjustment holes 3 for adjusting the height of the foot plate. The upper plate 1 is fixedly connected with the lower plate 2 through the adjustment holes 3 and screws. The upper plate 1 is provided with screw holes 8 through the screw holes 8 And the screws are respectively fixedly connected with the circuit board 7 under the upper board 1 and the ankle on the upper board.
[0034] The lower plate 2 is a rectangular plate with side plates at both ends, an...
Example Embodiment
[0066] Example 2
[0067] A foot plate structure of a humanoid robot capable of sensing ground reaction force, the same as embodiment 1, characterized in that: the force sensor 5 is nine common commercial force sensors of FC23 model, the thickness of the upper plate 1 is 2mm, and the lower plate 2 The thickness of the rubber guide block 10 is 6 mm, the thickness of the rectangular rubber pad 6 is 1 mm, and the operational amplifier used in the small signal amplifying and filtering circuit of the circuit board 7 is a commercially available common operational amplifier AD620.
Example Embodiment
[0068] Example 3
[0069] A foot plate structure of a humanoid robot capable of sensing ground reaction force, the same as embodiment 1, characterized in that: the force sensor 5 is nine common commercially available force sensors of NS-TH13 model, the thickness of the upper plate 1 is 5mm, and the lower layer The thickness of the board 2 is 5 mm, the thickness of the rubber guide block 10 is 9 mm, the thickness of the rectangular rubber pad 6 is 3 mm, and the operational amplifier used in the small signal amplifying and filtering circuit of the circuit board 7 is a commercially available common operational amplifier OP07.
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