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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

Inactive Publication Date: 2016-08-10
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention aims to solve the limitation of the damping effect of the existing rigid flat-bottomed integrated foot with an additional rubber soft bottom layer in contact with the ground, and the rigidity is still relatively large. When encountering rough roads or stepping on hard particles , which requires high performance of the control algorithm and control system and is still prone to instability and falls, and then proposes a variable stiffness biped robot foot system

Method used

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  • Variable-rigidity foot system of biped robot
  • Variable-rigidity foot system of biped robot

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specific Embodiment approach 1

[0009] Specific implementation mode one: combine figure 1 Illustrate, a kind of variable rigidity biped robot foot system of the present embodiment, it comprises sole 1 and instep; Instep support layer 6, pneumatic quick change joint 7 and a plurality of pressure sensors 8; front instep middle layer 3 and rear instep middle layer 4 form the instep middle layer; front instep support layer 5 and rear instep support layer 6 form the foot back support layer;

[0010] The sole 1 is made of a silicone air cushion, the silicone air cushion has multiple air chambers through it, and the upper end surface of the sole 1 is equipped with a front dorsum middle layer 3 and a back dorsum middle layer 4; The front dorsum middle layer 3 and the back dorsum middle layer 4 are respectively arranged on the upper end surface of the silicone air cushion, the upper end surface of the front dorsum middle layer 3 is provided with the front dorsal support layer 5, and the upper end surface of the back...

specific Embodiment approach 2

[0013] Specific implementation mode two: combination figure 1 Explain, the front instep middle layer 3 and the rear instep middle layer 4 of this embodiment are all polyoxymethylene resin middle layers. Such arrangement has high strength, high rigidity, good elasticity, good wear reduction and wear resistance. Protect the air cushion from wear and tear, ensure the easy replacement of the silicone air cushion, and also protect the pressure sensor. Others are the same as in the first embodiment.

specific Embodiment approach 3

[0014] Specific implementation mode three: combination figure 1 Explain that the front instep support layer 5 and the back instep support layer 6 of this embodiment are both polyoxymethylene resin support layers. Such arrangement has high strength, high rigidity, good elasticity, good wear reduction and wear resistance, and protects the pressure sensor. Others are the same as in the first or second embodiment.

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Abstract

A variable stiffness biped robot foot system, which relates to a variable stiffness humanoid robot foot system to solve the shock absorption effect when the existing rigid flat-bottom integrated foot with additional rubber soft bottom layer contacts the ground It has certain limitations, and the rigidity is still relatively large. When encountering rough roads or stepping on hard particles, it has high requirements on the performance of the control algorithm and control system and is still prone to instability and falls. It includes the soles of the feet and feet. Back; it also includes the middle layer of the dorsum of the front foot, the middle layer of the dorsum of the back foot, the dorsum of the front foot support layer, the dorsum of the rear foot support layer, pneumatic quick-change joints and multiple pressure sensors; the sole of the foot is made of silicone air cushion, and the silicone air cushion has a through A plurality of air chambers, a fore dorsum middle layer and a rear dorsal middle layer are installed on the upper surface of the sole; the front dorsum support layer is hingedly connected with the rear dorsum support layer; an array is arranged between the dorsum middle layer of the foot and the dorsum support layer Multiple pressure sensors. The invention is used for the foot of a biped humanoid robot.

Description

technical field [0001] The invention relates to a humanoid robot foot system with variable stiffness, which belongs to the field of robots. Background technique [0002] At present, the feet of humanoid biped robots are mostly an integrated structure with a rigid flat bottom and a layer of soft rubber bottom. The internal structure is relatively rigid. When encountering rough roads or stepping on hard particles, the robot's control system needs to complete complex motion planning to go around or adjust the feet to adapt to the road. The quantity and control precision are extremely high, and the robot is still prone to fall due to disturbance. Therefore, the research on a biped robot foot system with variable stiffness is of great significance to the simplification of the robot control system and the improvement of the biped robot's walking stability and adaptability to the road surface. Contents of the invention [0003] The present invention aims to solve the limitation...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 臧希喆李文渊刘义祥林珍坤赵杰
Owner HARBIN INST OF TECH
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