Design of foot end of a leg-foot robot with cushioning and boosting functions

Abstract

The invention provides the foot-end design of a leg-foot robot with cushioning and boosting functions. The functions of increasing the contact surface, cushioning and damping are realized through themutual cooperation of a spring structure and components. According to the foot-end design, on the one hand, the contact range of toes of the foot end is enlarged through the compression of a spring, so that the robot is kept stable; and on the other hand, the effects of cushioning and damping are achieved by compressing the center of the palm of the foot end, and thus, the service life of the robot is prolonged. In the process of the leg-foot robot touching the ground, the impact can be reduced, and the energy can absorbed; and in the process of leaving the ground, the rigidity of the leg-footrobot is maintained, the jumping ability of the leg-foot robot is not affected, and thus, the jumping ability and the adaptive capacity to environment of the leg-foot robot are improved.

Description

technical field [0001] The invention relates to a foot end structure for a legged robot, in particular to a foot end structure with buffering and boosting functions. Background technique [0002] Leg-footed walking has the advantages of high carrying capacity and strong terrain adaptability. It is the best choice in complex working environments and has broad application prospects. Compared with other ground movement methods, foot walking can choose the optimal foot-end reachable support point, has a strong ability to overcome obstacles, the direction of movement can be adjusted in all directions, has strong adaptability to terrain, and has good movement flexibility. However, the large-sized legged robot has a large volume and mass, and the impact problem has a significant impact on the smoothness of motion. Therefore, how to reduce the contact impact between the soles of the feet and the ground is one of the focal issues faced by legged robots. [0003] The application num...

AI Technical Summary

Problems solved by technology

However, the force-bearing area of ​​the foot end of the existing footed robot is small, and the robot is prone to slipping

Especially when walking on unstructured roads, the contact area may be further reduced due to the unevenness of the ground, which seriously affects the normal operation of the robot

However, due to the large weight of the large-footed robot, it is difficult to achieve precise control. At the same time, when the large-footed robot walks, the ground will have a huge impact on the foot end, causing damage to the drive device or joint connectors, affecting the accuracy and reducing the robot. service life

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