Foot Vibration Reduction Method of Biped Running Robot

A robot and foot technology, applied in the field of robots, can solve the problems of increased impact force on the ground, affecting the running speed of the robot, and large impact force on the ground, and achieves the effects of low production cost, simple structure, and improved running speed.

Active Publication Date: 2016-04-06
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, most of the robots with bipeds simplify the toe joints, and the feet are designed as a single sole; most of them adopt the method of landing on the ground at the same time with the soles of the feet or the heel first during running, and the impact force on the ground is relatively large (generally 1.2 times the weight of the robot. times, as the running speed increases, the ground impact force also increases correspondingly), which is one of the key issues affecting the improvement of the robot's running speed

Method used

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  • Foot Vibration Reduction Method of Biped Running Robot
  • Foot Vibration Reduction Method of Biped Running Robot

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Embodiment Construction

[0014] In order to make the technical solution and characteristics of the present invention clearer, the present invention will be further described in detail below in conjunction with the embodiments and accompanying drawings. Here, the following examples are used to illustrate the present invention, but not to limit the scope of the present invention.

[0015] Such as figure 1 As shown, the foot vibration reduction method of a biped running robot includes a foot plate 1, a toe 2, a hinge 3, an upper elastic driver 5, a lower elastic driver 4, and a DC motor 6. The foot plate 1 and toe 2 of the robot adopt an active connection mode, and the DC The motor 6 is fixedly connected to the foot plate 1 top of the robot by bolts.

[0016] The active connection mode adopted by the foot plate 1 and the toe 2 is a hinge 3 connection.

[0017] The upper elastic driver 5 of the present invention is installed on the top of the foot plate 1 and the toe 2; the lower elastic driver 4 is ins...

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Abstract

The invention belongs to the technical field of robots and particularly relates to a foot vibration attenuation method of a double-foot running robot. Soles, toes, hinges, upper elastic drivers, lower elastic drivers and a direct current motor are used in the method. The soles and the toes of the robot are connected through the hinges. When the feet of the robot are in a touchdown stage, the direct current motor drives the upper elastic drivers to be shortened, buffering moment is formed on the soles and surrounds the hinges, touching down impact force is reduced, and touching down vibration is attenuated. In a jumping stage, the lower elastic drivers generate pull force, provide jumping driving moment and increase the robot speed. By means of a running method that the robot supporting toes touch the ground first, vibration caused by touching impact in a robot running process can be buffered. Vibration caused by touching impact in the double-foot robot running process is effectively reduced, and running speed, stability and reliability of the double-foot robot are improved. The double-foot running robot is simple in structure, low in manufacture cost and suitable for popularization and use in relevant fields.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a foot vibration reduction method of a biped running robot. Background technique [0002] At present, the running speed of robots in the world is generally below 1.3m / s, which is still far behind the average running speed of adults of 4m / s. This is mainly because there are many problems to be solved for the robot to realize fast running, and the vibration caused by the landing impact of the robot when running is one of the problems to be solved urgently. [0003] During the running process of the robot, at the end of the flight stage, the moment the soles of the feet touch the ground, the speed of the robot will instantly become zero due to the collision between the soles of the feet and the ground, causing the robot to vibrate, and even cause the robot to lose stability and fall. Honda researched the walking speed of ASIMO and the impact force of the ground collision...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
Inventor 徐林森冯宝林施云高魏鲜明曹凯骆长俊赵贤相
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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