Biped robot bionic foot system with active terrain perception capability

Abstract

The invention discloses a biped robot bionic foot system with an active terrain perception capability, and the system works cooperatively through multiple sensors, has the active terrain perception capability, and can provide more comprehensive road surface terrain information for the walking of a biped robot. According to the system, through a bionic foot design method, the buffering and damping effects of feet on road impact can be effectively improved, the effective ground contact area of the feet is increased, and the walking stability and mobility of the robot are improved. The system is an intelligent foot system at the same time, and a sensing system of the system can perform hierarchical and staged active sensing on a road surface to obtain topographic information, so that reference is provided for walking of the robot. The system has certain processing and learning capabilities, can obtain road surface topography information based on preliminary processing of sensor signals, feeds back the road surface topography information to an upper-layer system, collects and learns corresponding sensing and processing results, and enhances the sensing and processing capabilities of the system for unknown topography. The foot system can effectively help the biped robot walk stably on various uneven pavements.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a biped robot bionic foot system with active terrain perception capability. Background technique [0002] Biped robot is a kind of robot based on bionic structure design, which imitates human beings to walk with biped gait. The leg-foot structure and walking mode make the robot have a strong ability to pass through and overcome obstacles. Compared with wheeled mobile robots, it can complete tasks on some more complex terrains. The characteristics of its humanoid form also make the robot more accepted by the public, and it has advantages in family, elderly care, service, education and other aspects. The rapid development of the current biped robot has enabled it to have the ability to walk stably under certain conditions, and to achieve a certain ability to resist external interference while walking. It is difficult for the robot to increase the walking speed under th...

AI Technical Summary

Problems solved by technology

The present invention uses bionics design, refers to the foot structure of biped walking creatures such as humans, and cooperates with the actual robot to imitate human gait, and reasonably designs and selects the characteristics and related parameters of the foot; it is also equipped with a sensor for road terrain perception All kinds of sensors can actively perceive the ground at the foothold, and the sensing process is carried out step by step by using the characteristics of each sensor; it can help biped robots complete humanoid gait walking, and use its bionic characteristics to realize large-scale The characteristics of step-length walking and buffering energy absorption; it can help biped robots to complete active perception and rapid adaptation to complex road terrain; it solves the problem of slow walking speed, high energy consumption of existing biped robots, and the problem of biped robots in the process of walking. Problems of poor perception and adaptability to complex road terrain and insufficient ground impact buffering and shock absorption capabilities

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