Robot foot device with self-adaptive capability to terrains

Abstract

The invention discloses a legged robot foot device capable of achieving self-adaption to various terrains. The legged robot foot device mainly comprises a sole structure, an ankle structure and toe structures; the sole structure is used for fixing and connecting other structures of a robot foot, and an inner cavity is a sealed space which is filled with hydraulic oil; the ankle structure is mainly used for completing robot steering and keeping a vertical posture of a robot so as to improve the stability of the robot under complex terrains; the toe structures are the only structures, making direct contact with the ground, of the robot, toe flaps are connected through webs so that movement of stretching and contracting can be completed, the soil fixation effect is achieved, the surfaces of the toe structures are provided with filter pores which can filter out water under toes and are used for improving the supporting environment of the bottom of the foot, and each toe can stretch and retract in the sole so that the robot foot can achieve self-adaption to various terrains. According to the legged robot foot device, the robot can achieve self-adaption to various soft soil environments, the stability of steering and walking can be improved, the supporting environment of the bottom of the robot foot can be improved, and the robot can walk in the complex terrain environment stably and efficiently.

Description

technical field [0001] The invention relates to a legged robot foot device with terrain self-adaptive capability, which belongs to the technical field of robots. Background technique [0002] At present, indoor robot technology has been developed relatively maturely; however, field robots need to be further researched compared to indoor robots because they need to work in soft soil environments such as swamps and deserts with poor carrying capacity and complex terrain. The foot device that the robot is in direct contact with the ground enables it to adapt to various complex terrains; at present, field robots mainly use crawler-type foot devices. Although the robot's adaptability to various complex terrains has been improved, compared with legs The crawler robot has the disadvantages of being bulky and less flexible; therefore, it is necessary to design a robot foot device that can make the legged robot adapt to various complex terrains. Contents of the invention [0003] ...

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is to overcome the defects of the prior art, and to design an adaptive legged robot foot device, which can make the robot adapt to various terrains, improve the supporting environment of the soles of the feet, and improve the stability of the robot's steering and walking, so that It can walk efficiently and stably in complex terrain environments

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