A foot structure of a biped robot and its all-terrain road adaptation method

A technology of biped robot and adaptive method, which is applied in the field of robotics, can solve problems such as tipping and difficulty in maintaining balance, achieve the effect of simple attitude adjustment, reduce attitude control requirements, and improve the life of the robot and its joints

CN111267993BActive Publication Date: 2021-04-27ZHEJIANG LAB
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2021-04-27

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Abstract

The invention relates to a foot structure of a biped robot and a method for adapting it to an all-terrain road surface. When a biped robot adopting the foot structure walks on an uneven road surface, it can actively adapt according to the actual terrain of the road surface, and adjust correspondingly in time. The posture can quickly and effectively improve the standing and walking stability of the biped robot, and improve the problems such as small foot contact area and difficulty in maintaining overall balance when the biped robot walks on uneven roads. The all-terrain pavement adapts to the foot structure and divides the sole of the foot into four areas, which are independently stressed and deformed, so that the robot foot can maintain a good touch on the uneven road while measuring the force distributed in the four areas of the foot. The sensor knows the ground contact of the foot, and based on this, the actual terrain distribution of the foot is estimated, and the relevant joints of the robot are driven to adjust, so as to complete the active adaptation of the robot's foot and overall posture to the uneven road surface.
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Description

technical field

[0001] The invention relates to a foot structure of a biped robot and an all-terrain road adaptation method thereof, belonging to the technical field of robots. Background technique

[0002] The biped robot is a robot that imitates the human body structure and walking gait. Its advantages lie in the excellent obstacle-surmounting ability and powerful movement ability brought by the leg-foot structure. The current biped robots have the ability to walk stably on flat roads. Some biped robots can imitate human walking gait to a certain extent, and the design of the foot structure is also various, but most of the foot The integrated structure is adopted, and the ankle joint motor is often used for frequent adjustments when encountering uneven road surfaces, or only the elastic deformation of the sole material and the deflection of the ankle joint are used to resist the impact caused by uneven road surfaces. The former has high requirements on the control of the ...

Examples

Embodiment Construction

[0037] The present invention will be further described below in conjunction with accompanying drawing.

[0038] refer to Figure 1-2 , the foot structure adapted to the three-dimensional all-terrain road surface of the biped robot, including the arch of the foot, the toe fixed at the front end of the arch of the foot, the heel fixed at the rear end of the arch of the foot, and the ankle joint fixed at the top of the arch of the foot1 , the arch of foot includes the arch of foot body 8, the elastic element 9 and the connecting mechanism 7, the connecting mechanism 7 is fixed on the side of the arch of foot body 8, wherein the left connecting mechanism 711 is fixed on the left side of the arch of foot body 8 , the right connecting mechanism 712 is fixed on the right side of the arch body 8; the toe and heel respectively include two foot modules; respectively the right heel module 3, the left heel module 4, the left toe module 5, The right toe module 6; the right toe module 6 an...