A foot structure of a biped robot and its all-terrain road adaptation method

Abstract

The invention relates to a foot structure of a biped robot and a method for adapting it to an all-terrain road surface. When a biped robot adopting the foot structure walks on an uneven road surface, it can actively adapt according to the actual terrain of the road surface, and adjust correspondingly in time. The posture can quickly and effectively improve the standing and walking stability of the biped robot, and improve the problems such as small foot contact area and difficulty in maintaining overall balance when the biped robot walks on uneven roads. The all-terrain pavement adapts to the foot structure and divides the sole of the foot into four areas, which are independently stressed and deformed, so that the robot foot can maintain a good touch on the uneven road while measuring the force distributed in the four areas of the foot. The sensor knows the ground contact of the foot, and based on this, the actual terrain distribution of the foot is estimated, and the relevant joints of the robot are driven to adjust, so as to complete the active adaptation of the robot's foot and overall posture to the uneven road surface.

Description

technical field [0001] The invention relates to a foot structure of a biped robot and an all-terrain road adaptation method thereof, belonging to the technical field of robots. Background technique [0002] The biped robot is a robot that imitates the human body structure and walking gait. Its advantages lie in the excellent obstacle-surmounting ability and powerful movement ability brought by the leg-foot structure. The current biped robots have the ability to walk stably on flat roads. Some biped robots can imitate human walking gait to a certain extent, and the design of the foot structure is also various, but most of the foot The integrated structure is adopted, and the ankle joint motor is often used for frequent adjustments when encountering uneven road surfaces, or only the elastic deformation of the sole material and the deflection of the ankle joint are used to resist the impact caused by uneven road surfaces. The former has high requirements on the control of the ...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the above-mentioned problems existing in the feet of existing biped robots, and at the same time aiming at the current situation that most biped robots can only walk stably on flat ground, and the problem that biped robots are difficult to maintain balance and prone to fall when the road terrain changes , the present invention provides a foot structure with effective all-terrain road adaptability and a road adaption method suitable for the walking mode of the existing biped robot. When facing the ground, the feet can still touch the ground well, protecting the driving joints of the robot while maintaining the stability of the robot's walking

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