A Bionic Foot System for Biped Robot with Active Terrain Awareness

Abstract

The invention discloses a bionic foot system of a biped robot with active terrain perception capability. The system is composed of multi-sensors working together, has the ability of active terrain perception, and can provide relatively comprehensive road terrain information for biped robots to walk. The system adopts the bionic foot design method, which can effectively improve the cushioning and shock absorption effect of the foot on the road surface, increase the effective contact area of ​​the foot, and improve the walking stability and mobility of the robot. The system is also an intelligent foot system. Its sensing system will actively sense the road surface in layers and stages, obtain terrain information, and provide reference for robot walking. The system has certain processing and learning capabilities. It can obtain road terrain information based on the preliminary processing of sensor signals and feed it back to the upper system, and collect and learn the corresponding perception and processing results to enhance the system's ability to perceive and process unknown terrain. The foot system can effectively help the biped robot to walk stably on various uneven road surfaces.

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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