A quadruped robot foot that can actively switch forms

Abstract

The invention provides a quadruped robot foot capable of actively switching forms, including a foot base assembly, a power transmission device, and a hemispherical foot end assembly. The power transmission device is arranged in the foot base assembly, and the hemispherical foot end assembly It consists of the first half foot end assembly and the second half foot end assembly, the first half foot end assembly and the second half foot end assembly are arranged opposite to form a hemispherical structure, the output movement of the power transmission device passes through two connecting The rods are passed to the two semi-foot-end assemblies, which are connected to the foot-base assembly through the instep seat and the two hemispherical foot-end assemblies. The invention overcomes the shortcomings of traditional spherical feet that are easy to sink and slip on soft ground such as sandy ground, and proposes a robot foot structure that can actively switch shapes to adapt to different terrain conditions, and has the ability to detect contact force at the end of the foot. Make the quadruped robot move freely on hard ground and soft ground.

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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