Lower limb structure of robot and robot

Abstract

The invention relates to a lower limb structure of a robot and a robot; the lower limb structure of the robot can measure the grounding or takeoff effect of the robot accurately and conveniently; thelower limb structure comprises a lower limb strut in which a cavity is arranged, a linear sensor which is fixed in the cavity, a strut shaft of which the first end is connected with the sliding end ofthe linear sensor, a supporting part which is connected with the second end of the strut shaft, and an elastic component which sleeves the strut shaft; the first end of the elastic component is connected with the lower limb strut and the second end resists against the supporting part. Through measuring the value change of the linear sensor arranged in the lower limb strut, the value change can beused as the judgment basis whether the supporting component of the robot is grounded or not. In addition, the elastic component has pressing force; the grounding or takeoff effect of the robot can beaccurately and conveniently measured by the different values of the linear sensor when the supporting component is not grounded or collision contact takes place when grounding.

Description

technical field [0001] The present application relates to an improvement of a supporting structure, in particular, relates to a lower limb structure of a robot, and furthermore, the present application also relates to a robot having the lower limb structure. Background technique [0002] At present, humanoid robot, as a research hotspot in the field of robotics, has been regarded as a breakthrough in robotics research by universities and research institutes at home and abroad. Basics matter. At present, most calf robots are equipped with torque sensors on the soles of their feet to determine whether the robot touches the ground. However, such torque sensors are usually expensive and have complicated measurement methods, which increase the manufacturing cost and R&D cost of the robot. In addition, the legged robots that have been developed so far, including multi-legged robots such as biped, quadruped, and hexapod, have little versatility in the design of their lower limb st...

AI Technical Summary

Problems solved by technology

At present, most calf robots are equipped with torque sensors on the soles of their feet as a device to judge whether the robot touches the ground. However, such torque sensors are usually expensive and have complicated measurement methods, which increase the manufacturing cost and R&D cost of the robot.

In addition, the legged robots that have been developed so far, including multi-legged robots such as biped, quadruped and hexapod, have little versatility in the design of their lower limbs, which increases maintenance costs

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