Biped robot landing point planning method based on NURBS curve, computer readable storage medium and foot device

Abstract

The invention discloses a biped robot landing point planning method based on an NURBS curve, a computer readable storage medium and a foot device. The method comprises the following steps: acquiring a foot starting point, a foot falling point and a leg swinging height of the biped robot as control points of an NURBS curve; generating an initial landing point trajectory curve based on the control point, and solving a first-order derivative of the initial landing point trajectory curve to obtain the speed of an actual landing point; the speed of the actual landing point is compared with the speed of an expected landing point, and when the absolute value of the error between the speed of the actual landing point and the speed of the expected landing point is smaller than or equal to a preset value, a control landing point track curve is obtained; and according to the control landing point track curve, the swing of the swing legs of the biped robot is controlled. The speed of the foothold relative to the ground is matched with the speed of the robot relative to the ground, and the swinging state and the supporting state of the motion of the foot type robot are combined, so that the switching of the motion states is smoother, and the walking speed of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of path planning, and in particular to a biped robot landing point planning method based on NURBS curves, a computer-readable storage medium, and a foot device. Background Art

[0002] Currently, legged robots use the fuselage as the reference system. When in the swinging phase, the foot swings forward at a speed greater than the body speed. When in the supporting phase, the foot speed is less than the body forward speed. Therefore, there is a speed discontinuity in the foothold position when the state is switched. The faster the body speed, the greater the discontinuity, making the bipedal robot prone to falling while walking quickly.

[0003] Therefore, the prior art needs to be further improved and enhanced. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a bipedal robot landing point planning method based on NURBS curves, a computer-readable storage medium, and a foot device, aiming to solve the problem that the existing bipedal robot is prone to falling during fast walking due to unreasonable landing point planning path.

[0005] The technical solution adopted by the present invention to solve the above technical problems is as follows:

[0006] In a first aspect, a method for planning a foothold of a bipedal robot based on a NURBS curve comprises:

[0007] Get the starting point, landing point and leg swing height of the biped robot as the control points of the NURBS curve;

[0008] Generate an initial footfall trajectory curve based on the control point, and obtain a first-order derivative of the initial footfall trajectory curve to obtain a velocity of an actual footfall;

[0009] The actual footfall speed is compared with the expected footfall speed, and when the absolute value of the error between the actual footfall speed and the expected footfall speed is less than or equal to a preset value, a controlled footfall trajectory curve is obtained;

[0010] According to the control footfall trajectory curve, the swinging of the swinging legs of the biped robot is controlled.

[0011] The following are preferred technical solutions of the present invention, but are not intended to limit the technical solutions provided by the present invention. Through the following preferred technical solutions, the objectives and beneficial effects of the present invention can be better achieved and realized.

[0012] As a preferred technical solution, the NURBS curve-based bipedal robot landing point planning method, wherein the obtaining of the bipedal robot's starting point, landing point and leg swing height specifically includes: using the bipedal robot's state estimation module to obtain the bipedal robot's starting point, landing point and leg swing height.

[0013] As a preferred technical solution, in the NURBS curve-based bipedal robot landing point planning method, the method for obtaining the desired landing point speed includes:

[0014] Obtaining a state estimate of the bipedal robot using a state estimation module of the bipedal robot;

[0015] The world coordinates and speed of the robot at the starting point are estimated based on the state, and the world coordinate position and speed of the robot at the landing point are predicted by the expected walking speed and walking cycle time. The horizontal plane moving speed of the fuselage is reversed, and the vertical axis speed is zero to obtain the speed of the foot at the expected landing point.

[0016] As a preferred technical solution, the foot point planning method for a bipedal robot based on NURBS curves, wherein the foot point planning method further comprises:

[0017] Comparing the speed of the actual foothold point with the expected foothold point speed, and updating the control point when the absolute value of the error between the speed of the actual foothold point and the expected foothold point speed is greater than a preset value;

[0018] Iterating the initial footfall trajectory curve based on the updated control point, and obtaining the first-order derivative of the iterated initial footfall trajectory curve to obtain the actual footfall velocity;

[0019] The actual landing point speed is compared with the expected landing point speed. When the absolute value of the error between the actual landing point speed and the expected landing point speed is greater than the preset value, the control point is continuously updated, and the initial landing point trajectory curve is iterated using the updated control point until the absolute value of the error between the actual landing point speed and the expected landing point speed is less than or equal to the preset value.

[0020] As a preferred technical solution, the bipedal robot landing point planning method based on NURBS curve, wherein the preset value is 0.01m / s; and the NURBS curve is a third-order NURBS curve.

[0021] In a second aspect, a bipedal robot landing point planning device based on NURBS curves, comprising:

[0022] The acquisition module is used to obtain the starting point, landing point and leg swing height of the biped robot as the control points of the NURBS curve;

[0023] A generating module, used for generating an initial footfall trajectory curve based on the control point, and obtaining a first-order derivative of the initial footfall trajectory curve to obtain a velocity of an actual footfall;

[0024] A comparison module, used for comparing the speed of the actual footfall point with the expected footfall point speed, and obtaining a controlled footfall point trajectory curve when the speed of the actual footfall point is less than or equal to the expected footfall point speed;

[0025] The control module is used to control the swinging of the swinging legs of the biped robot according to the control footfall trajectory curve.

[0026] In a third aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the above-mentioned NURBS curve-based bipedal robot landing point planning method.

[0027] In a fourth aspect, a terminal device comprises: a processor and a memory; the memory stores a computer-readable program that can be executed by the processor; when the processor executes the computer-readable program, it implements the steps in the NURBS curve-based bipedal robot landing point planning method as described above.

[0028] In a fifth aspect, a foot device used in the method for planning a foothold of a bipedal robot according to the first aspect, wherein the foot device comprises a connecting component, an ankle joint motor, a supporting component, and a sole component connected in sequence;

[0029] One end of the connecting component in the opposite direction from the ground is connected to the leg; a plurality of pressure sensors are distributed on the surface of the supporting component in contact with the sole component, and an inertial measurement unit is embedded in the sole component. When the foot device walks, the pressure sensor detects the contact pressure with the ground when the foot is lifted and placed, and the inertial measurement unit detects the acceleration and angle of the foot relative to the ground.

[0030] As a preferred technical solution, in the foot device, the pressure sensors are arranged in a one-dimensional matrix.

[0031] Beneficial effect: Compared with the prior art, the bipedal robot landing point planning method provided by the present invention matches the speed of the bipedal robot's landing point relative to the ground with the speed of the bipedal robot relative to the ground, combines the swinging state and the supporting state of the bipedal robot's movement, makes the movement state switching smoother, and thus improves the robot's walking speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 A flowchart of a method for planning a foothold of a bipedal robot based on NURBS curves provided in an embodiment of the present invention;

[0034] Figure 2 A flowchart of another method for planning a foothold of a bipedal robot based on NURBS curves provided by an embodiment of the present invention;

[0035] Figure 3 A schematic diagram of a swing leg trajectory with the heel as a tracking point provided by an embodiment of the present invention;

[0036] Figure 4 A third-order NUBRS curve provided by an embodiment of the present invention;

[0037] Figure 5 A schematic diagram of the structure of a bipedal robot landing point planning device provided by an embodiment of the present invention;

[0038] Figure 6 A schematic diagram of the structure of a terminal device provided by an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the structure of a foot device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The embodiments of the present invention provide a method, device, terminal device and computer-readable storage medium for planning the foothold of a bipedal robot based on NURBS curves. In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0041] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0042] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as herein.

[0043] It should be understood that the sequence number and size of each step in this embodiment do not mean the order of execution. The execution order of each process is determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0044] Bipedal robots have disadvantages such as more leg joints, smaller support area, and higher center of mass, making it difficult to achieve all three aspects in walking. In addition, the motion trajectory of a legged robot consists of a series of discontinuous footholds, and the transition between adjacent footholds is achieved by alternating between the swing state and the support state.

[0045] At present, the landing point of a legged robot is generated only by the robot's walking speed and the position predicted by the walking cycle, without considering the speed and direction of the landing point. It is assumed that the landing point is relatively stationary with respect to the world position, and the three-axis speed and three-axis angular velocity are all zero, or the speed obtained by taking the starting point and the landing point as the derivative of the cubic interpolation curve is used as the landing point speed to plan the trajectory of the swinging leg. At the same time, the moment when the swinging foot lands is the switching moment between the swing phase and the support phase. However, the legged robot uses the fuselage as the reference system. When in the swing phase, the foot speed is greater than the fuselage speed and swings forward. When in the support phase, the foot speed is less than the forward speed of the fuselage. Therefore, there is a speed discontinuity at the landing point when the state is switched. The faster the fuselage speed, the greater the discontinuity, which makes the bipedal robot prone to falling during fast walking.

[0046] To this end, the present invention first uses state estimation to obtain the robot's current swing leg starting point, future landing point position and swing leg height, and sets the four control points required by the NURBS curve as the initial control points of the trajectory iteration. By judging whether the error between the iterative speed and the expected speed is within an acceptable range, it is used as the judgment condition for terminating the iteration, and finally the landing point speed that matches the robot's movement is obtained.

[0047] The application content is further explained below through the description of embodiments in conjunction with the accompanying drawings.

[0048] This embodiment provides a method for planning the foothold of a bipedal robot based on NURBS curves. Figure 1 and Figure 2 As shown, the method includes:

[0049] S10, obtaining the starting point, landing point and leg swing height of the biped robot as control points of the NURBS curve.

[0050] Specifically, the state estimation module of the bipedal robot is used to obtain the starting point, landing point and swing leg height of the bipedal robot. Since the NURBS curve is a curve defined by control points, weights and node vectors, the curve is smooth and continuous without mutation points, and the derivative of the NURBS curve is still a NURBS curve, that is, when the NURBS curve is used as the landing point position trajectory, the velocity curve obtained by deriving the position curve is still a NURBS curve, so the velocity curve is smooth and continuous. At the same time, compared with the cubic curve, the swing leg trajectory generated by a single NURBS curve can cover the entire range of motion. In addition, the generated trajectory can be adjusted by changing the curve control point. When the landing point is continuously approached by iterative derivation, a trajectory that matches the landing point speed of the bipedal robot is obtained. Controlling the landing point speed of the bipedal robot according to the obtained trajectory can make the bipedal robot less likely to fall during fast walking. It should be noted that the starting point is considered to be the velocity position of the robot trunk and feet, which has a position deviation only in the z-axis direction, and the others are consistent.

[0051] S20, generating an initial footfall trajectory curve based on the control point, and obtaining a first-order derivative of the initial footfall trajectory curve to obtain a velocity of an actual footfall.

[0052] Specifically, the three-axis directions of the bottom position of the bipedal robot's swinging leg are defined to be the same as the three-axis directions of the robot, that is, the x-axis is the forward direction, the z-axis is perpendicular to the ground and upward, and the y-axis is perpendicular to the xz direction. Taking the xz plane as an example, a third-order NURBS curve is used as the trajectory position curve of the swinging leg, and the position curve of the swinging leg in three-dimensional space is simplified to a two-dimensional plane position curve:

[0053]

[0054] Where C(u) is a point on the curve, P i is the control point, w i is the control point P i The weight, N t，v (u) is the p-order B-spline basis function of the ith control point, obtained by the recursive formula, and the obtained curve is as follows Figure 3 As shown. Since it is a third-order curve, p is set to 3. If the weights of each control are set to [1, 5, 5, 1], the larger the weight, the closer the curve is to the control point, making the swing trajectory close to the swing height limit. Substituting u = 1 into the first-order derivative function of the C(u) curve, the foothold velocity of the first iteration is obtained.

[0055] S30, comparing the actual foothold speed with the expected foothold speed, and when the absolute value of the error between the actual foothold speed and the expected foothold speed is less than or equal to a preset value, obtaining a controlled foothold trajectory curve.

[0056] Specifically, the actual foothold speed refers to the speed of the foothold to be iterated, which is different from the expected foothold speed (calculated value). That is to say, the NURBS curve is adjusted by the control point so that the actual foothold speed is close to the expected foothold speed.

[0057] The robot state parameters are obtained through the robot state estimation module, including the xy axis speed of the horizontal plane of the fuselage, the world coordinate position of the starting point, and the maximum swing height of the swing leg; the world coordinate position of the landing point is predicted according to the state estimation parameters walking speed and walking cycle, and the xy axis speed of the horizontal plane of the fuselage is reversed, and the z axis speed is zero as the three-axis speed of the expected landing point. The landing speed of the first iteration is compared with the expected landing point speed. If the absolute value of the error is less than or equal to 0.01m / s, it is considered that the landing point speed at this time is reasonable, so that the landing point speed matches the current motion state of the robot.

[0058] S40, controlling the swinging of the swinging legs of the bipedal robot according to the control footfall trajectory curve.

[0059] In one implementation of the present invention, when the absolute value of the error between the actual landing point speed and the expected landing point speed is greater than a preset value, the control point is updated, and the initial landing point trajectory curve is iterated using the updated control point until the absolute value of the error between the actual landing point speed and the expected landing point speed is less than or equal to the preset value.

[0060] Specifically, the NURBS curve requires four control points: P0, P1, P2, and P3, where P0 is the starting point, P3 is the landing point, the z-axis height of P1 and P2 is the foot-lifting height, the x-axis coordinate of P1 is located at the first third of the distance between P2 and P3, and the initial x-axis position of P2 is the same as that of P3. At this time, the tangent of the curve at point P3 is perpendicular to the x-axis, that is, the horizontal plane velocity of the landing point matches the horizontal plane velocity of the fuselage, which is suitable for the scene where the robot moves forward at a uniform speed. When P2 is located on the positive side of P3, the speed direction of the landing point is backward relative to the fuselage, which is suitable for the scene where the robot accelerates forward. When P2 is located on the negative side of P3, the speed direction of the landing point is forward relative to the fuselage, which is suitable for the scene where the robot decelerates forward. By setting the initial P2 position and continuously adjusting the position of P2, the speed of the landing point is iteratively calculated so that the speed of the landing point matches the current motion state of the robot.

[0061] Substitute the weight value of u into the first-order derivative function of the C(u) curve to obtain the landing point speed of the first iteration, and compare this speed with the expected landing point speed. If the absolute value of the error is greater than 0.01m / s, it is considered that the set P2 point position is unreasonable. If the obtained speed is greater than the expected landing point speed, the P2 position is reduced by half of the distance between P2 and P3, and the new P2 position replaces the original P2 position to continue the calculation. Otherwise, if it is less than the expected landing point speed, the P2 position is increased and the landing point speed is obtained again. If the error is still too large at this time, continue to reduce half of the distance between P2 and P3, and continue to iterate until the error is within an acceptable range.

[0062] Based on the above-mentioned bipedal robot landing point planning method, this embodiment provides a structural principle diagram of a bipedal robot landing point planning device, such as Figure 5 As shown, the bipedal robot landing point planning device specifically includes:

[0063] An acquisition module 100 is used to acquire a starting point, a landing point, and a leg swing height of the biped robot as control points of a NURBS curve;

[0064] A generating module 200, configured to generate an initial footfall trajectory curve based on the control point, and obtain a first-order derivative of the initial footfall trajectory curve to obtain a velocity of an actual footfall;

[0065] A comparison module 300 is used to compare the actual footfall speed with the expected footfall speed, and when the actual footfall speed is less than or equal to the expected footfall speed, obtain a controlled footfall trajectory curve;

[0066] The control module 400 is used to control the swinging of the swinging legs of the biped robot according to the control footfall trajectory curve.

[0067] Based on the above-mentioned bipedal robot landing point planning method, this embodiment provides a computer-readable storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the steps in the bipedal robot landing point planning method as described in the above-mentioned embodiment.

[0068] Based on the above-mentioned bipedal robot landing point planning method, the present application also provides a terminal device, such as Figure 6 As shown, it includes at least one processor (processor) 20; display screen 21; and memory (memory) 22, and may also include a communications interface (Communications Interface) 23 and a bus 24. Among them, the processor 20, the display screen 21, the memory 22 and the communication interface 23 can communicate with each other through the bus 24. The display screen 21 is configured to display a preset user guide interface in the initial setting mode. The communication interface 23 can transmit information. The processor 20 can call the logic instructions in the memory 22 to execute the method in the above embodiment.

[0069] In addition, the logic instructions in the memory 22 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.

[0070] The memory 22 is a computer-readable storage medium that can be configured to store software programs, computer executable programs, such as program instructions or modules corresponding to the methods in the embodiments of the present disclosure. The processor 20 executes functional applications and data processing by running the software programs, instructions or modules stored in the memory 22, that is, implementing the methods in the above embodiments.

[0071] The memory 22 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory 22 may include a high-speed random access memory and may also include a non-volatile memory. For example, a variety of media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, may also be a transient storage medium.

[0072] In addition, the specific process of loading and executing the multiple instruction processors in the above-mentioned storage medium and the terminal device has been described in detail in the above-mentioned method, and will not be described one by one here.

[0073] Based on the above-mentioned bipedal robot landing point planning method, this embodiment provides a foot device, such as Figure 7 As shown, the foot device includes a connecting component 110, an ankle joint motor 210, a support component 310, and a sole component 410 which are connected in sequence; the end of the connecting component 410 opposite to the ground is connected to the leg (not shown); a plurality of pressure sensors 311 are distributed on the surface of the supporting component 310 in contact with the sole component 410, and an inertial measurement unit (not shown) is embedded in the sole component. When the foot device walks, the pressure sensor detects the contact pressure with the ground when the foot is lifted and placed, and the inertial measurement unit detects the acceleration and angle of the foot relative to the ground.

[0074] The foot device provided by the present invention can use the structure of the sole component, the support component, the ankle joint motor, and the connecting component as a platform support for collecting the landing point trajectory data. The pressure sensor can obtain the pressure size when the foot end contacts the ground and whether it has touched the ground in real time. The IMU (Inertial Measurement Unit) obtains the real-time position and speed of the swinging foot by transmitting the data back and solving it. Compared with the existing solutions, the pressure sensor matrix of the device (such as five pressure sensors distributed on the surface of the support component contacting the sole component to form a one-dimensional matrix of 1 column and 5 rows) can obtain the contact position when contacting an uneven ground or the rear and front foot ends do not contact the flat ground at the same time, so as to better adjust the posture of the foot end and avoid slipping and stepping on empty ground.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for planning the foothold of a bipedal robot based on NURBS curves, characterized in that: include: Get the starting point, landing point and leg swing height of the biped robot as the control points of the NURBS curve; Generate an initial footfall trajectory curve based on the control point, and obtain a first-order derivative of the initial footfall trajectory curve to obtain a velocity of an actual footfall; The actual footfall speed is compared with the expected footfall speed, and when the absolute value of the error between the actual footfall speed and the expected footfall speed is less than or equal to a preset value, a controlled footfall trajectory curve is obtained; According to the control footfall trajectory curve, the swinging of the swinging legs of the biped robot is controlled.

2. The method for planning footholds of a bipedal robot based on NURBS curves according to claim 1, characterized in that: The obtaining of the starting point, the landing point and the leg swing height of the bipedal robot specifically comprises: obtaining the starting point, the landing point and the leg swing height of the bipedal robot by using a state estimation module of the bipedal robot.

3. The method for planning footholds of a bipedal robot based on NURBS curves according to claim 1, characterized in that: The method for obtaining the desired landing point speed includes: Obtaining a state estimate of the bipedal robot using a state estimation module of the bipedal robot; The world coordinates and speed of the robot at the starting point are estimated based on the state, and the world coordinate position and speed of the robot at the landing point are predicted by the expected walking speed and walking cycle time. The horizontal plane moving speed of the fuselage is reversed, and the vertical axis speed is zero to obtain the speed of the foot at the expected landing point.

4. The method for planning footholds of a bipedal robot based on NURBS curves according to claim 1, characterized in that: The foothold planning method further includes: Comparing the speed of the actual foothold point with the expected foothold point speed, and updating the control point when the absolute value of the error between the speed of the actual foothold point and the expected foothold point speed is greater than a preset value; Iterating the initial footfall trajectory curve based on the updated control point, and obtaining the first-order derivative of the iterated initial footfall trajectory curve to obtain the actual footfall velocity; The actual landing point speed is compared with the expected landing point speed. When the absolute value of the error between the actual landing point speed and the expected landing point speed is greater than the preset value, the control point is continuously updated, and the initial landing point trajectory curve is iterated using the updated control point until the absolute value of the error between the actual landing point speed and the expected landing point speed is less than or equal to the preset value.

5. The method for planning footholds of a bipedal robot based on NURBS curves according to claim 1, characterized in that: The preset value is 0.01 m / s; and the NURBS curve is a third-order NURBS curve.

6. A bipedal robot landing point planning device based on NURBS curves, characterized in that: include: The acquisition module is used to obtain the starting point, landing point and leg swing height of the biped robot as the control points of the NURBS curve; A generating module, used for generating an initial footfall trajectory curve based on the control point, and obtaining a first-order derivative of the initial footfall trajectory curve to obtain a velocity of an actual footfall; A comparison module, used for comparing the speed of the actual footfall point with the expected footfall point speed, and obtaining a controlled footfall point trajectory curve when the speed of the actual footfall point is less than or equal to the expected footfall point speed; The control module is used to control the swinging of the swinging legs of the biped robot according to the control footfall trajectory curve.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the NURBS curve-based bipedal robot landing point planning method as described in any one of claims 1-5.

8. A terminal device, characterized in that: include: Processor and memory; The memory stores a computer-readable program that can be executed by the processor; when the processor executes the computer-readable program, it implements the steps in the NURBS curve-based bipedal robot landing point planning method as described in any one of claims 1-5.

9. A foot device used in the method for planning footholds of a bipedal robot according to claim 1, characterized in that: The foot device comprises a connecting component, an ankle joint motor, a supporting component, and a sole component which are connected in sequence; One end of the connecting component in the opposite direction from the ground is connected to the leg; a plurality of pressure sensors are distributed on the surface of the supporting component in contact with the sole component, and an inertial measurement unit is embedded in the sole component. When the foot device walks, the pressure sensor detects the contact pressure with the ground when the foot is lifted and placed, and the inertial measurement unit detects the acceleration and angle of the foot relative to the ground.

10. The foot device according to claim 9, characterized in that: The pressure sensors are arranged in a one-dimensional matrix.

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