Novel flexible foot system of human-imitated robot

Abstract

The invention discloses a flexible foot system of a human-imitated robot, mainly comprising four small foot bottom plates, a support main shaft and a micro-motor driving system. The flexible foot system is characterized in that each novel flexible foot comprises the four small foot bottom plates which can independently pitch up and down, and is connected with the support main shaft by a rotation pair and is provided with a torsional spring, so that the feet can ensure a certain starting pose and a certain starting force; a pair of spring damping fasteners are arranged below each foot bottom plate and is driven through a flexible rope by a miniature motor, and a front end grounding slide block connected with a spring is pulled to move back and forth so as to realize the adjustment of a contact position according to the concave and convex status of the ground; four designed flexible feet pitch around a Y shaft, the other four designed flexible feet move along an X shaft, the designed flexible feet totally have eight degrees of freedom, thereby ensuring the four-point contact between the feet and the concave and convex ground; and the invention successfully solves the problem that the foot bodies of the human-imitated robot and a ground environment uncertain model are not matched, and can enable the human-imitated robot to adapt to more uncertain environments.

Description

1. Technical field [0001] The invention relates to the technical field of humanoid robots, in particular to a novel flexible foot system of humanoid robots. 2. Background technology [0002] Humanoid robots are "robots" in a literal or narrow sense, and their research and development represent the cutting-edge level of robotics. The environment and various tools in modern society are designed for human beings. For the movement of non-humanoid robots such as wheeled mobile robots, obstacles need to be cleared, narrow aisles need to be widened, etc., all of which require additional cost, so there is no need to change the human environment for the robot only if the robot has the shape of a human and can act like a human. Developing a humanoid robot is more cost-effective than modifying the entire environment and changing tools. [0003] Stable walking of humanoid robots on flat ground is no longer a problem, but to realize that humanoid robots can go where they need to at any...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a more effective humanoid robot flexible foot system to solve the matching problem between the foot mechanism and the uneven ground, and to realize the characteristics of automatically adapting to the uneven surface topography with function

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