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

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 patent...

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 the matching problem between the foot plate of the existing humanoid robot and the uneven ground, and realizes automatic adaptation to the uneven surface shape features and functions

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