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A bionic foot that improves the naturalness and stability of the gait of a biped robot

A bipedal robot, a natural technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems of poor stability and unnatural walking gait of bipedal robots, achieve smooth motion, reduce adverse consequences, and improve stability. Effect

Active Publication Date: 2017-05-03
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problems of unnatural walking gait and poor stability of existing biped robots, and provide a bionic foot that can overcome the above-mentioned shortcomings and improve the naturalness and stability of biped robots.

Method used

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  • A bionic foot that improves the naturalness and stability of the gait of a biped robot
  • A bionic foot that improves the naturalness and stability of the gait of a biped robot
  • A bionic foot that improves the naturalness and stability of the gait of a biped robot

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Embodiment Construction

[0024] see figure 1 , figure 2 image 3 , Figure 4 , Figure 5 , Image 6 with Figure 7 As shown, this embodiment includes a bionic foot body and a bionic ankle;

[0025] The bionic foot body includes an outer bionic arch 3, an inner bionic arch 4, a toe member 6 and a heel member 11, and the second bionic arch connector 13 is connected to the heel member through two symmetrically distributed third screws 14. 11 is fixedly connected; the first bionic foot arch connector 1 is fixedly connected with the second bionic foot arch connector 13 through two symmetrically distributed fifth screws 40; the outer bionic foot arch 3 and the inner bionic foot arch 4 are respectively passed through the first screws 2 is fixedly connected with the first bionic arch connector 1; the outer arch support 28 and the inner arch support 37 are respectively connected with the outer bionic arch 3 and the inner bionic arch 4 through the second screw 5; the toe member 6 They are respectively h...

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Abstract

The invention discloses a bionic foot capable of improving the gait naturality and stability of a biped robot. The bionic foot comprises a bionic foot body and a bionic ankle. The bionic foot body comprises bionic arches, extension springs, a compression spring, a viscoelastic material layer and rubber non-slip mats. Part of impact borne by the bionic foot can be consumed by the viscoelastic material layer, and the rest of the impact is absorbed by the elastic deformation of the bionic arches, the extension springs and the compression spring. Due to the fact that the rubber non-slip mats are adopted, the non-slip performance of the bionic foot can be improved. The bionic ankle comprises a first ankle joint connecting piece, a first ankle joint platform, a second ankle joint connecting piece and a second ankle joint platform. The bionic ankle can do inward turnover and outward turnover movement through the rotation of the first ankle joint platform around a third pin shaft, and can do back bending and toe bending movement through the rotation of the second ankle joint platform around a fourth pin shaft. By means of the bionic foot, the harmful effect caused by the impact can be effectively reduced, meanwhile, the walking mode of human beings can be imitated, and the gait of the robot can be more natural.

Description

technical field [0001] The invention relates to a bionic foot for a biped robot, in particular to a bionic foot for improving the naturalness and stability of the gait of a biped robot. Background technique [0002] With the advancement of science and technology, bionic walking robots have developed rapidly and are widely used in many fields of society, such as agriculture, military affairs, interstellar exploration, field expeditions, emergency rescue and disaster relief, etc. According to the number of walking feet, walking robots can be divided into one-legged, two-legged, three-legged, four-legged, six-legged, eight-legged or even more, of which even numbers account for the vast majority. Compared with other types of walking robots, biped walking robots have a walking style similar to that of humans, and have remarkable characteristics such as good walking ability on non-structural complex road surfaces and strong environmental adaptability. Therefore, they have received...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
Inventor 钱志辉周亮任雷宋国风苗怀彬杨茗茗梁威黎亦磊付君任露泉
Owner JILIN UNIV
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