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Bionic foot for bionic robot

A technology of humanoid robot and bionic foot, which is applied in the field of humanoid robot, can solve the problems of bionic design of human foot arch and large impact force, etc., and achieve the effect of less impact, reduced impact force and great flexibility

Active Publication Date: 2015-07-29
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] However, the feet of existing humanoid robots seldom utilize the principle of bionics, and seldom adopt the bionic design of human foot arches. Therefore, when biped robots are walking, there will still be relatively large impacts due to the rubber cushioning of the soles of the feet. big impact

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Embodiment Construction

[0034] The bionic foot of the humanoid robot includes: sole base, bionic foot arch 4, movable sole, non-slip foot pad, humanoid robot ankle 1, six-dimensional force sensor 2, and six-dimensional force sensor fixed plate 3.

[0035] The sole base is the rear sole 5, which is the basis of the whole bionic foot, has the same size as the existing humanoid robot foot, and is made of an aluminum alloy plate. Such as figure 1 The structure shown from top to bottom is humanoid robot ankle 1, six-dimensional force sensor 2, six-dimensional force sensor fixed plate 3, arched bionic foot arch 4, bionic foot rear sole 5, forefoot sole 6, rear sole Anti-slip rubber 8, forefoot anti-slip rubber 7.

[0036] The ankle 1 of the humanoid robot, the six-dimensional force sensor 2, and the six-dimensional force sensor fixing plate 3 are fixedly connected by screws. The bionic arch 4 is arranged between the six-dimensional force sensor fixing plate 3 and the rear sole 5, respectively located at ...

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Abstract

The invention provides a bionic foot for a bionic robot. The bionic foot comprises a sole base, a bionic arch, an anti-sliding foot pad and a moveable sole, wherein the bionic arch has an arch-shaped structure, simulates a human arch and comprises four bionic arch plate spring stacking modules which are formed by successively staggering and stacking a plurality of plate spring blocks; the bionic arch has a buffering function when the robot walks and climbs stairs and can greatly reduce the ground impact force; the moveable sole is in pivoted connection with the sole base through a rotating shaft; the moveable sole and the sole base has a same degree of freedom; a spring is used for applying a pre-tightening force in the rotating shaft, so that a passive joint is formed; when the robot walks, the moveable sole is clung to the ground, so that the flexibility of the foot is increased and the moving posture of the foot while walking is improved.

Description

technical field [0001] The invention relates to a humanoid robot, in particular to a bionic foot of a humanoid robot. Background technique [0002] Humanoid robot is the closest robot to human beings. Compared with traditional wheeled robots or crawler robots, humanoid robots are more adaptable to the daily life environment of human beings, and at the same time, it is easier to use various tools invented and designed by humans. Therefore, Humanoid robots have broad prospects for development. [0003] The biggest difficulty that a humanoid robot will encounter during walking is stability and balance. The impact of the ground on the robot may cause damage to the parts and sensors on the robot. At the same time, the impact force may cause instantaneous instability to the robot. , resulting in a breakdown of its stability and a fall. This point can be solved by ZMP theory. In the process of walking, there will be a large impact force and a collision with the ground, which req...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 陈学超黄强刘华欣周宇航张伟民余张国左久林
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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