Leg of multi-legged walking robot

A walking robot and robot foot technology, applied in the field of robotics, can solve problems such as limiting the range of movement of robot feet, complex structure of flat-bottomed feet, and tripping, and achieve the goals of improving measurement range and accuracy, flexible and reliable walking, and reducing costs Effect

Inactive Publication Date: 2012-07-04
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

First, the structure of the flat-bottomed foot is complex, while the structure of the spherical-bottomed foot is simple and compact; secondly, the passive joints in

Method used

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  • Leg of multi-legged walking robot
  • Leg of multi-legged walking robot
  • Leg of multi-legged walking robot

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[0019] The present invention will be further described below in conjunction with the drawings.

[0020] Such as figure 1 , figure 2 As shown, the present invention adopts a spherical foot-end foot structure, which is composed of a multi-pedal walking robot foot mechanical device and a multi-pedal walking robot foot force measuring device.

[0021] The foot mechanism of the multi-leg walking robot comprises a spherical foot end 1, a shock-absorbing force measuring part and a calf-foot connecting piece 8. The spherical foot end 1 is made of rubber material. This foot end is in flexible contact with the ground after landing, which can increase the friction between the feet of the multi-legged robot and the ground to prevent the multi-legged robot from falling When walking, slipping can form a buffer with the ground to reduce impact, which can effectively improve the adaptability of the multi-legged walking robot to the environment. The shock-absorbing force measurement part is compo...

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Abstract

The invention discloses a leg of a multi-legged walking robot. The existing flat soled leg structure is complex and easy to cause tripping over. The robot leg comprises a leg mechanical device of the multi-legged walking robot and a leg dynamometrical device of the multi-legged walking robot. The leg mechanical device of the multi-legged walking robot comprises a spherical foot, a damping dynamometrical portion and a shank connector, and the damping dynamometrical portion comprises a spherical foot connector, a leg connector, a leg sleeve, a damping compression spring, a pressure pad and fixing screws. The leg dynamometrical device of the multi-legged walking robot consists of a pressure sensor and a signal acquisition processor. The leg of a multi-legged walking robot is in the sphericalfoot end type foot structure and simple and compact in structure, and the multi-legged walking robot is flexible and reliable in walking. Impact between the multi-legged walking robot and the ground during walking of the robot is effectively reduced by means of the compression spring damping device. Difficulty and complexity in dynamometry of the leg of the multi-legged walking robot are greatly reduced by using the pressure sensor for dynamometry of the leg of the multi-legged walking robot.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a multi-leg walking robot foot. Background technique [0002] The motion modes adopted by mobile robots mainly include wheel type, crawler type, foot type, hybrid type and other motion forms. For wheeled robots, since the wheel came out, it has been very reliable in moving on hard flat ground. However, when driving on uneven ground, the energy consumption of the wheeled robot will increase greatly, and on soft ground or severely uneven terrain, the role of the wheels will also be seriously lost, and the moving efficiency will be greatly reduced. The crawler robot distributes the load of the body on a larger area, which is equivalent to a device for paving the road for the wheels, and can generate greater propulsion, and can walk on soft ground without getting stuck in it, but the crawler robot The maneuverability of the robot on uneven ground is still poor, and the r...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 金波陈刚陈诚陈鹰
Owner ZHEJIANG UNIV
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