Two-dimensional (2D) walking robot foot mechanism
A walking robot and foot technology, which is applied in the directions of motor vehicles, transportation and packaging, can solve the problems that the center of gravity cannot be stably transitioned and the flat-plate mechanism cannot be applied, and achieve the effect of smooth transition and increased adaptability.
Inactive Publication Date: 2011-05-04
SOUTHEAST UNIV
View PDF7 Cites 1 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
In China, less attention has been paid to this aspect, and the flat-type foot mechanism is generally used directly, but the flat-type mechanism is not suitable for all occasions.
Especially for the situation where the ground is uneven, the flat mechanism has problems such as the zero moment point (ZMP) cannot fall well within the range of the sole of the foot during the entire process of the foot touching the ground, and there are problems such as the unstable transition of the center of gravity.
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0018] Such as Figure 1-5 The shown 2D walking robot foot mechanism includes a heel 1 and a sole 3 in contact with the ground, an arch 2 connecting the heel 1 and the sole 3, a toe 4, a heel contact sensor 8 and a sole contact sensor 9. Arch 2 is made of flexible material, preferably 65Mn material, including heel connection zone 21, first elastic deformation zone 22, ankle joint connection zone 23 connected with robot leg, second elastic deformation zone 24 and sole connection zone 25. Heel 1, sole 3 and toe 4 are installed on the rotating shaft, and the rotating shaft of heel 1 and sole 3 is connected with heel connecting area 21 and sole connecting area 24 respectively, and the rotating shaft of toe 4 is longitudinally installed on sole 3 front end by spring hinge 7, and spring The structure of the hinge 7 is as image 3 As shown, after pushing the ground, the spring 71 is deformed, and its restoring force has the effect of assisting the pushing to the ground, so as to red...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention relates to a two-dimensional (2D) walking robot foot mechanism. The 2D walking robot foot mechanism comprises heels, soles and arches, wherein the heels and the soles contact with the ground; the arches are connected with the heels and the soles; and heel touchdown sensors and sole touchdown sensors are arranged on the arches. The 2D walking robot foot mechanism provided by the invention adopts two-support point design, realizes stable transition of zero moment point (ZMP) during walking, improves the adaptability of a robot to the ground, transmits signals through the heel touchdown sensors and the sole touchdown sensors and realizes the driven walking of the robot through a sensed force control system.
Description
technical field [0001] The invention relates to a foot mechanism of a 2D walking robot. Background technique [0002] At present, the design of low-power walking mechanism is the basis for studying human walking mechanism and developing reasonable walking mechanism. In the design of low-power walking mechanism, the foot design is an important part that cannot be ignored. In China, less attention has been paid to this aspect, and the flat-type foot mechanism is generally used directly, but the flat-type mechanism is not suitable for all occasions. Especially for the occasions where the ground is uneven, the flat mechanism has problems such as that the zero moment point (ZMP) cannot fall well within the range of the sole of the foot during the entire process of the foot touching the ground, and there are problems such as the unstable transition of the center of gravity. Contents of the invention [0003] The purpose of the invention is to provide a foot mechanism of a 2D w...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 徐文龙罗翔
Owner SOUTHEAST UNIV