Multi-degree-of-freedom flexible foot plate for humanoid robot

A technology of humanoid robot and degree of freedom, which is applied in the field of robotics to achieve the effects of reducing control and structural complexity, stabilizing walking, and improving the ability to absorb shocks

Inactive Publication Date: 2012-07-11
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 with multiple degrees of freedom, which solves ...

Method used

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  • Multi-degree-of-freedom flexible foot plate for humanoid robot
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  • Multi-degree-of-freedom flexible foot plate for humanoid robot

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Embodiment Construction

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0029] The multi-degree-of-freedom flexible footboard of a humanoid robot in the present invention includes a footboard mechanism 1 and a driving mechanism 2, and the driving mechanism 1 is used to drive the footboard mechanism 2 to move, such as figure 1 shown.

[0030] Wherein, foot plate mechanism 1 adopts passive toe form, is made of central fixed plate 101 and four foot plates 102, as figure 1 , figure 2 said;

[0031] The central fixing plate 101 is a rectangle arranged horizontally, and is fixedly connected with the ankle joint of the humanoid robot. The four foot plates 102 have the same structure, and each foot plate 102 is connected with the central fixing plate 101 through a hinge 103 . Its specific connection mode is: two connecting plates 104 are respectively hinged on the front side and the rear side of the central fixing pl...

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Abstract

The invention discloses a multi-degree-of-freedom foot plate for a humanoid robot, and belongs to the technical field of robots. The multi-degree-of-freedom foot plate comprises a foot plate mechanism and a driving mechanism, wherein the foot plate mechanism consists of a central fixing plate and four foot plates; the front side and the rear side of the central fixing plate are hinged with two connecting plates respectively; each connecting plate is connected with a foot plate through a hinge; a rotating shaft of each hinge is provide with a torsion spring; an ankle joint connecting frame of the humanoid robot is fixedly arranged on the central fixing plate and is used for connecting ankle joints of the humanoid robot; and the driving mechanism is mainly stretched and retracted through a driving motor in combination with a spring so as to drive all the connecting plates in the foot plate mechanism to do pitching motion. The foot plate has the advantages that: the problem of incapability of matching the foot plate mechanism with an uneven ground surface is solved, and the foot plate mechanism has a passive structure, so that control complexity and structural complexity are effectively reduced without driving; and the driving mechanism is a flexible variable stiffness driving mechanism, so that impact absorption capacity is improved, and the robot can walk efficiently and stably.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a flexible footboard 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. For example: [0003] The publication number is CN101402380A, and the invention paten...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 魏慧帅梅王中宇
Owner BEIHANG UNIV
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