A foot contact detection mechanism suitable for legged robots

A legged robot and detection mechanism technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems of expensive sensors, high requirements for installation and use, and achieve the effect of reducing design difficulty, reducing impact, and simple and applicable structure

Active Publication Date: 2017-02-01
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this type of sensor is expensive and has high requirements for installation and use. Therefore, improving the touch sensing method of the sole of the robot has become an important issue in the design of the legged robot mechanism.

Method used

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  • A foot contact detection mechanism suitable for legged robots
  • A foot contact detection mechanism suitable for legged robots
  • A foot contact detection mechanism suitable for legged robots

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0037] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0038] Generally, a legged robot includes a torso and legs connected to the torso, and at least a foot support 1 is provided on the legs. see figure 1 , Figure 1A , Figure 1B and Figure 1C As shown, the present invention has designed a foot contact detection mechanism suitable for legged robots. The foot contact detection mechanism includes a connecting seat 2, a fixed seat 3, a spring 4, an internally threaded copper column 5, a Copper column 6, B copper column 7 and nut 8;

[0039] The fixed installation of the connection between the foot contact detection mechanism and the legged robot is realized through the A support plate 2A and the B support plate 2B provided on the connection base 2 . That is, after a screw passes through a through hole in the connection part of the legged robot, it is threaded in the AA threaded hole 2A1 of the A support plat...

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PUM

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Abstract

The invention discloses a foot earth contact detection mechanism suitable for a legged robot. The foot earth contact detection mechanism suitable for the legged robot is characterized in that an inner thread copper pillar (5) is installed on an A connection rod (1C) of a foot strut (1), a spring (4) sleeves a B connection rod (1D) of the foot strut (1), and is located between the inner thread copper pillar (5) and a fixing seat (3), an A copper pillar (6) and a B copper pillar (7) are installed on the fixing seat (3), the A copper pillar (6) is connected with a positive pole of a 5V power source, the B copper pillar (7) is connected with a signal detection input / output port, the fixing seat (3) is installed on the lower portion of a connection seat (2), and a B connection rod (1D) of the foot strut (1) passes through an A center through hole of the connection seat (2), and then is connected with a nut (8) through a thread. The foot earth contact detection mechanism suitable for the legged robot achieves a contact switch function through electric signal connections and disconnections of the A copper pillar (6), the B copper pillar (7) and the inner thread copper pillar (5) , and thereby detects earth contact and lifting status of a foot of the legged robot in real time.

Description

technical field [0001] The present invention relates to a foot unit of a legged robot, more particularly, a foot contact detection mechanism suitable for a legged robot. Background technique [0002] A legged robot includes a torso and legs connected to the torso. At present, the main legged robots mainly include biped robots, quadruped robots, hexapod robots and eight-leg robots. Each leg includes a plurality of links. Adjacent links are jointed together for movement. [0003] January 2006, Volume 28, Issue 1 "ROBOT", titled "Research Review of Legged Robots", authored by Liu Jing, Zhao Xiaoguang, Tan Min. It is pointed out that the body of the legged robot is separated from the ground, and the advantage of this mechanical structure is that the body of the robot can move in a balanced manner regardless of the roughness of the ground and the placement of the legs. The gait planning algorithm of the legged robot is based on the idea that the position of the end of the leg...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 丁希仑彭赛金杨帆郑羿尹业成
Owner BEIHANG UNIV
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