Foot of quadruped robot capable of actively switching form

Abstract

The invention provides a foot of a quadruped robot capable of actively switching form. The foot of the quadruped robot comprises a foot base assembly, a power transmission device and a hemispheric foot end assembly, wherein the power transmission device is arranged inside the foot base assembly, the hemispherical foot end assembly comprises a first half foot end assembly and a second half foot endassembly, the first half foot end assembly and the second half foot end assembly are oppositely arranged to form a hemispheric structure, the output movement of the power transmission device is transmitted to the two half foot end assemblies through two connecting rods, and two hemispherical foot end assemblies are connected with the foot base assembly through a foot back base. The foot of the quadruped robot overcomes the defects that a traditional spherical foot is prone to sinking and slipping on soft grounds such as sand and the like, and provides a robot foot structure capable of actively switching the form to adapt to different terrain conditions, and the foot of the quadruped robot capable of actively switching the form has a foot end contact force detection capability, so that thequadruped robot can freely move on hard grounds and the soft grounds.

Description

technical field [0001] The invention relates to a robot foot, in particular to a quadruped robot foot capable of actively switching forms, and belongs to the technical field of robots. Background technique [0002] Footed robots use discontinuous contact with the ground, so they have strong adaptability to various complex terrain environments. Quadruped robots have strong load capacity and flexible movement, and have broad application prospects in the fields of outer space exploration, agricultural production, military investigation, entertainment and education. [0003] The foot of a quadruped robot is the part of the robot that is in direct contact with the ground, so there are special requirements for the design of the foot. For example, the foot adapts to the ground environment, absorbs impact, provides traction, stores and releases energy. In addition, the foot pressure and collision perception ability are also of great significance to the control of the robot. [00...

AI Technical Summary

Problems solved by technology

[0004] The existing quadruped robot foot structure mainly includes spherical feet and passive planar feet. The spherical feet are flexible and easy to calculate the contact state with the ground, but they are easy to sink and slip on soft ground, such as mud and sand.

The passive planar foot adopts various bionic designs and has good sports performance, but the structure is complex, and it is prone to "stumbling" when moving on uneven ground

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