A biped robot foot mechanism with active and passive compliance functions
A bipedal robot, active and passive technology, applied in the field of hydraulic servo control, can solve the problems of unstable walking of the robot and difficult to meet the requirements of use, and achieve the effects of improving energy utilization, reducing weight, and increasing the degree of freedom of rolling.
Active Publication Date: 2019-07-09
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology
When designing a robot, it is necessary to design in detail the active and passive compliant drive feet. If the elastic element is directly applied to the robot body, it may cause unknown vibrations, causing the robot to walk unstable and difficult to meet the use requirements.
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[0027] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.
[0028] refer to Figure 1 to Figure 6 , a biped robot foot mechanism with active and passive compliance functions, including a calf plate 1, a hydraulic cylinder 2, a midfoot support frame 3, a cross rotation shaft 4, a first damper 5, an elastic element 6, a forefoot 7 and Hind paw 10, wherein,
[0029] There are two hydraulic cylinders 2 and they are respectively vertically installed on the ...
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The invention belongs to the field of hydraulic servo control and discloses a biped robot foot mechanism with active-passive pliancy functions. The biped robot foot mechanism with the active-passive pliancy functions comprises a shank plate, a hydraulic cylinder, a middle foot supporting frame, a cross-shaped rotating shaft, a first damper, an elastic element, a front foot sole, a rear foot sole,a first middle connecting rod and a second middle connecting rod. The biped robot foot mechanism with the active-passive pliancy functions has the advantages that the adaption ability of a robot to different gaits is enhanced; a heel tendon-like structure with a variable stiffness function is designed for an ankle joint so that the energy utilization rate in walking is increased; the design of theshank structure is optimized to reduce the weight of the whole structure; and according to the human foot sole structure, a robot foot structure, more similar to the human foot structure, with the front sole and the rear sole is designed for the robot and active-passive pliancy structures are additionally arranged for different joints according to the joint motion characteristics so as to realizedifferent pliancy functions.
Description
technical field [0001] The invention belongs to the field of hydraulic servo control, and more specifically relates to a foot mechanism of a biped robot. Background technique [0002] Joint bionic drive technology is an important research direction in the field of robotics, especially the ankle joint is an important part of the foot structure of humanoid robots. It is basically impossible for a robot without this degree of freedom to realize human gait. It is also an important part of the robot foot structure. Simplify the most important joint in the model. For a long time, the ankle joints of robots are rigid and single-degree-of-freedom, resulting in a large impact force on the robot's feet and insufficient exercise capacity. Therefore, on the basis of the past, the following improvement measures are proposed: 1), adding elastic elements to the ankle joint, increasing the impact resistance, and enabling it to realize the force control function; 2), adding rolling degrees ...
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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 高亮董昊臻胡成颢宋志涛钟浩然王美思
Owner HUAZHONG UNIV OF SCI & TECH