Variable-rigidity foot system of biped robot
A biped robot and rigidity technology, applied in the field of robotics, can solve problems such as easy instability and falls, high performance requirements for control algorithms and control systems, and achieve the effect of ensuring walking and improving stability
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[0009] Specific implementation mode 1: Combination figure 1 It is explained that a variable stiffness biped robot foot system of this embodiment includes a sole 1 and an instep; it also includes a forefoot middle layer 3, a back instep middle layer 4, a forefoot support layer 5, and a back The instep support layer 6, the pneumatic quick-change connector 7 and the multiple pressure sensors 8; the forefoot intermediate layer 3 and the hind instep intermediate layer 4 constitute the instep intermediate layer; the forefoot support layer 5 and the hind instep support layer 6 constitute the foot Back support layer
[0010] The sole 1 is made of a silicone air cushion, the silicone air cushion has a plurality of through air chambers, the silicone air cushion has a plurality of through air chambers, and the upper end surface of the sole 1 is equipped with a forefoot dorsal middle layer 3 and a back instep middle layer 4; The forefoot middle layer 3 and the back instep middle layer 4 are ...
Example Embodiment
[0013] Specific implementation manner two: combination figure 1 It is explained that the forefoot middle layer 3 and the back foot middle layer 4 of this embodiment are both polyacetal resin middle layers. This setting has high strength, high rigidity, good elasticity, and good wear resistance. Protect the air cushion from wear and tear, to ensure the easy replacement of the silicone air cushion, and to protect the pressure sensor. Others are the same as the first embodiment.
Example Embodiment
[0014] Specific implementation mode three: combination figure 1 It is explained that the forefoot support layer 5 and the hindfoot support layer 6 of this embodiment are both polyacetal resin support layers. This setting has high strength, high rigidity and good elasticity, good anti-friction and wear resistance, and protects the pressure sensor. Others are the same as the first or second embodiment.
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