A bionic two-toed mechanical foot with plantar perception

Abstract

The invention discloses a bionic two-toe mechanical foot having the capacity of foot bottom sensing. A mechanical system comprises a bearing toe, an auxiliary toe, a supporting rod, a transmission shaft and a connecting flange plate; a control system comprises a power module, a resetting module, a sensor module, a signal conditioning module, a microprocessor and a steering engine module; when foot bottom pressure of an instability region on the outer side of a foot bottom exceeds a set threshold value, the microprocessor converts a pressure signal into an electrical signal for driving a steering engine to rotate so that the auxiliary toe and the bearing toe can be separated by a certain angle, and an auxiliary supporting effect can be achieved; meanwhile, by demarcating priorities, whether the foot bottom is instable or not and the instability degree are judged, the separating angle of the auxiliary toe and the bearing toe is controlled, and an energy-saving effect is achieved. With the two-toe foot structure and sand-touch two-toe posture of an ostrich being a bionic model, mechanical design is combined with control, the stability condition of a foot is judged, the function of self-adaptation auxiliary supporting is achieved for the two-toe foot, and the stability, the smoothness and the energy-saving performance of a foot-type robot are improved during walking.

Description

technical field [0001] The invention belongs to the field of engineering bionics and is applied to biped robots, in particular to a bionic two-toed mechanical foot with plantar sensing ability. Background technique [0002] Compared with wheeled robots, footed robots are widely used in deep space exploration, material transportation, emergency rescue and other fields due to their superior obstacle-crossing and passing performance on unconventional ground. However, the main problems facing the development of legged robots are walking stability, balance and energy consumption, especially for bipedal robots, which have also become important issues restricting the development of legged robots. [0003] The African ostrich is the largest and heaviest ratite in the world. It lives in desert areas all year round and cannot fly, but it can run at high speeds for a long time and steadily. Ostriches are the only two-toed birds, and adult ostriches can weigh up to 130-150kg. The cont...

AI Technical Summary

Problems solved by technology

However, the main problems faced by the current development of legged robots are walking stability, balance and energy consumption, especially biped robots, which have also become important issues restricting the development of legged robots

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