Foot structure of humanoid robot based on modularized array sensor

Abstract

The invention relates to a foot structure of a humanoid robot based on a modularized array sensor. The foot structure comprises a foot plate, a rear foot sole fixed at the rear end of the foot plate, and a front foot sole connected with the foot plate through a foot sole connection piece and capable of rotating, wherein a sensor array comprising a plurality of sensors used for sensing ground counterforce information is arranged at the bottom of the foot plate; and a connection assembly used for being connected with robot legs is arranged on the foot plate. Therefore, the foot structure has the following advantages that the foot structure which is compact in structure, is provided with a ground self-adaption and energy absorption buffer device and can more accurately measure a zero moment point in the robot walking process is designed by a modularization method in an array arrangement way based on PVDF (polyvinylidene fluoride) piezoelectric film sensors; and the PVDF piezoelectric film sensors can be interchanged, so that a fault component can be dismounted and replaced when a fault occurs.

Description

technical field [0001] The invention relates to a foot structure of a humanoid robot, in particular to a foot structure of a humanoid robot based on a modular array sensor. Background technique [0002] Humanoid robots have the function of walking on legs, and have incomparable performance advantages over wheeled or tracked robots in unstructured environments. They can adapt to uneven and unstructured terrain with obstacles. It has a wide application prospect and is one of the research hotspots in the field of robotics. Compared with the multi-legged walking mechanism, the humanoid bipedal robot has higher movement flexibility, small moving blind spot, strong ability to overcome obstacles, can easily go up and down steps and pass through uneven or narrow roads, and can realize running, jumping and walking. Dance, martial arts and other difficult movements. [0003] A humanoid robot is the closest to human beings, and bipedal walking is one of its key technologies. Although...

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Problems solved by technology

However, the existing research results also have obvious limitations, such as: in order to fully consider the adaptability of the foot structure to the ground and the ability to absorb shocks, the foot structure is more complicated and the control is not strong; the selection of the sensor is not considered and layout, resulting in the lack of perception of the foot; the existing design usually uses a six-dimensional force / torque sensor to detect the reaction force and moment of the ground, and then obtain the position of the zero moment point, so that the volume and weight of the foot increase, and the price high, making its application limited

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