A multi-dimensional information collection system for robot feet

Abstract

The present invention provides a robot foot multi-dimensional information collection system, comprising: a foot shell connected to the lower leg of the robot; a three-dimensional force sensor arranged in the foot shell, the three-dimensional force sensor is in the shape of a hollow triangular prism, the The three sides of the three-dimensional force sensor are respectively three strain beams, wherein the inner and outer sides of two of the strain beams are provided with strain gauge groups, and the upper and lower end surfaces of the other strain beam are provided with strain gauge groups. , each of the strain gauge groups includes two strain gauges; a measurement and control module connected to each of the strain gauges, and the measurement module is used to calculate the force on the foot shell according to the force data detected by each of the strain gauges . The beneficial effect of the present invention is that it is used for collecting multi-dimensional information of the foot end, has a simple structure, is easy to manufacture, has high reliability, a large measuring range, and a small volume.

Description

technical field [0001] The invention relates to the technical field of robot equipment, in particular to a multi-dimensional information collection system for robot feet. Background technique [0002] The quadruped robot has flexible mechanism, strong carrying capacity and good stability. It has good application prospects in many aspects such as emergency rescue and disaster relief and military affairs. a part of. Quadruped robot foot perception In a quadruped robot such as a multivariable and strongly coupled dynamic model, there are problems of self-adaptation to unstructured terrain under variable gaits and stability adjustment of variable gaits. Both the research and the design of real-time control systems are very challenging. However, the existing robot end sensors generally have complex structures, small measuring ranges, large volumes, and few measurement dimensions, making it inconvenient for quadruped robots to be used in various multi-terrain conditions. Conte...

AI Technical Summary

Problems solved by technology

Quadruped robot foot perception In a quadruped robot such as a multivariable and strongly coupled dynamic model, there are problems of self-adaptation to unstructured terrain under variable gaits and stability adjustment of variable gaits. Research and design of real-time control systems are very challenging

However, the existing robot end sensors are generally complex in structure, small in range, large in size, and have few measurement dimensions, which is inconvenient for quadruped robots to be used in various multi-terrain conditions.

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