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Biped robot sole stress state detection system and method

A technology of bipedal robot and force state, applied in the field of robotics, can solve the problems of inconvenient installation and expensive sensors, and achieve the effect of simple installation and low cost

Pending Publication Date: 2022-05-13
ZHEJIANG LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, to measure the force on the soles of biped robots, most of them need to use six-dimensional force / torque sensors, but such sensors are expensive and inconvenient to install

Method used

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  • Biped robot sole stress state detection system and method
  • Biped robot sole stress state detection system and method
  • Biped robot sole stress state detection system and method

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Embodiment Construction

[0049] The present invention will be further described below in conjunction with accompanying drawing.

[0050] like figure 1 As shown, a system for detecting the state of force on the sole of a biped robot in the present invention includes a sole of a biped robot 1 , a vertical force detection module 2 , a horizontal force detection module 3 and a signal processing circuit 4 . Among them, the vertical direction force detection module 2 collects the force state data of the biped robot foot 1 along the vertical direction, and the horizontal direction force detection module 3 collects the force state data of the biped robot foot 1 along the horizontal direction, and the signal processing The circuit 4 is responsible for processing the data generated by the vertical force detection module 1 and the horizontal force detection module 2 .

[0051] like Figure 4 As shown, the vertical force detection module 2 includes an array piezoresistive film pressure sensor 20 , an upper buff...

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Abstract

The invention discloses a biped robot foot sole stress state detection system and method. The biped robot foot sole stress state detection system comprises a biped robot foot sole, a vertical direction force detection module, a horizontal direction force detection module and a signal processing circuit. The vertical direction force detection module collects stress state data of foot soles of the biped robot in the vertical direction, and the horizontal direction force detection module collects stress state data of the foot soles of the biped robot in the horizontal direction. And the signal processing circuit is responsible for processing data generated by the vertical direction force detection module and the horizontal direction force detection module.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a system and method for detecting the force state of the plantar of a biped robot. Background technique [0002] When the biped robot is walking, it is necessary to obtain the force status of the sole of the biped robot in real time, so as to prevent the robot from overturning or falling. When the biped robot walks, the soles of the feet will be subjected to two types of forces, one is the vertical force and the other is the horizontal force. Among them, the former is the resultant force of gravity and impact force, and the latter is mainly caused by friction. These two forces will affect the walking stability of the robot. Among them, the zero-moment point of the sole of the foot can be calculated according to the distribution of the vertical force on the sole of the robot, and the equivalent frictional moment at the zero-moment point of the sole of the foot can be ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L5/162
CPCG01L5/162
Inventor 施佳晨田蒋仁袁海辉顾建军
Owner ZHEJIANG LAB