Humanoid robot foot plate mechanism with multiple degrees of freedom

Abstract

The invention discloses a humanoid robot foot plate mechanism with multiple degrees of freedom, which belongs to the technical field of robots and comprises a central fixing plate and four foot plates. Two connecting plates are respectively hinged on each of the front side and the rear side of the central fixing plate, and each connecting plate is correspondingly connected with one of the foot plates, so that the four foot plates are respectively positioned on the left front side, the right front side, the left rear side and the left rear side of the central fixing plate. A torsion spring is mounted on a rotating shaft of each hinge. When the various foot plates in the foot plate mechanism contact with an uneven ground, a certain angle is formed between each foot plate and the corresponding connecting plate according to curvature of the ground surface contacting with the foot plate due to the effect of the corresponding torsion spring, and accordingly, a spatial supporting surface with at least four contact points is formed by the foot plate and the ground; and when the foot plates leave away from the ground, initial states of the foot plats are restored under the effects of the torsion spring. The humanoid robot foot plate mechanism is simple in structure, the foot plates can adaptively fit with an optional rough ground without being driven, the problem of matching the foot plates with the uneven ground is solved, and the characteristic and a function of automatically adapting to concave and convex changing ground surfaces and shapes are realized.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a foot plate mechanism of a humanoid robot with 8 degrees of freedom. Background technique [0002] The human foot consists of 26 bones on one side, 29 joints, 42 muscles and 25 tendons. Thanks to the high flexibility of complex feet, humans can walk stably in complex environments such as unevenness and space obstacles. In addition to the humanoid body and appearance, humanoid robots also need to have humanoid behavioral characteristics - bipedal walking. Humanoid robots can only play their immeasurable role if they walk where they are needed at any time like humans and can complete pre-set tasks autonomously. The rigid foot configuration of the traditional humanoid robot plate does not have any characteristics and functions to automatically adapt to the uneven and changing surface topography. E.g: [0003] The publication number is CN101402380A, and the invention patent "A H...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the defects of the prior art, the present invention provides a more effective humanoid robot foot plate mechanism with multiple degrees of freedom, which solves the matching problem between the foot plate of the existing humanoid robot and the uneven ground, and realizes automatic adaptation to the uneven surface Morphological properties and functions

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