Air pressure detection based robot foot structure and pressure detection method

Abstract

The invention provides a foot structure. The foot structure comprises a foot plate, an air pressure module and a data processing module, wherein the air pressure module and the data processing moduleare arranged at the bottom of the foot plate. Connecting assemblies used for being connected with legs of a robot are arranged on the foot plate. The air pressure module comprises at least one air pressure detection unit, and the air pressure detection units are arranged at the bottom of the foot plate. Each air pressure detection unit comprises an air pressure sensor and an air bag, wherein the air pressure sensor is connected with the air bag. Each air bag is provided with an inflation opening. The data processing module is used for acquiring data of contact with the ground so as to adjust the walking posture of the robot in real time. Meanwhile, the invention provides a pressure detection method. The pressure detection method comprises the steps that S1, the air pressure module is initialized and subjected to zero position calibration; S2, the data of contact with the ground are acquired through the air pressure detection units; and S3, the data processing module processes the dataof contact and adjusts the walking posture of the robot in real time. According to the foot structure, the structure is simple, the air pressure detection technology is adopted, and adaptability is high; modular design is achieved, and mounting is convenient; and the measuring precision is high, and real-time feedback is achieved.

Description

Technical field [0001] The invention relates to a robot foot structure based on air pressure detection and a pressure detection method. Background technique [0002] With the development of science and technology, the application of robots has become more and more extensive, and the foot structure of robots is an important part. Human or animal feet have sensitive touch and can perceive the environment of the feet well. However, robots But can't perceive all of this. In order to detect whether the foot of the humanoid robot is close to the ground (forced surface), a foot pressure detection device was born. With the development of technology, the device is now mainly used for detecting the force of the foot when the humanoid robot is walking. Generally speaking, the traditional pressure detection device is mainly based on the deformation of the stress plate to detect the pressure, or it is realized by an expensive F / T multi-axis pressure sensor, or it is composed of a strain gaug...

AI Technical Summary

Problems solved by technology

[0007] 1. Complex installation and complex design;

[0008] 2. Heavy weight and high price;

[0009] 3. The measurement accuracy is low, and the measurement range is not easy to change;

[0010] 4. It is necessary to embed the pressure sensor into the foot structure of the robot, which is difficult to implement modularly

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