Humanoid sole and shank simulating assembly of humanoid robot

Abstract

The invention relates to the technical field of humanoid robots, in particular to a humanoid robot humanoid sole and shank assembly which comprises a sole assembly, a shank assembly and a thigh assembly. The sole assembly comprises a sole, an inertial measurement unit mounted on the sole, a force sensor mounted above an arch of the sole and an adapter plate mounted on the force sensor; the shank assembly comprises a shank, a cross-shaped bearing, an ankle joint support and an ankle joint driving module, the ankle joint support is movably connected to the bottom of the shank through the cross-shaped bearing, the ankle joint support is fixedly installed on the top of the sole assembly, and the ankle joint driving module is installed on the shank and used for driving the ankle joint support to swing along double shafts of the cross-shaped bearing; the thigh assembly comprises a thigh and a knee joint driving module, and the thigh is rotationally connected to the top of the shank through the knee joint driving module. The performance of the humanoid robot in the aspects of movement flexibility, stability, load bearing capacity and complex ground adaptability is remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of humanoid robots, and in particular to a humanoid robot humanoid foot and calf assembly. Background Art

[0002] With the rapid development of robotics technology, humanoid robots have gradually become a hot topic in research and application because of their ability to simulate human behavior and their potential to perform tasks in complex environments. They have broad development prospects. The basic structure of a humanoid robot is similar to that of a human body, usually including the head, torso, arms, waist, pelvis, hip joints, legs, soles of feet, and other parts. In order to achieve smooth, natural, anthropomorphic and efficient movement, especially when performing complex tasks, each component of a humanoid robot requires high-precision bionic design, and the design of its soles and calves is particularly critical. The soles and calves are key parts of human walking and stability, and they bear important support and movement functions. They can effectively coordinate ground contact and upper limb movement, and play a decisive role in the robot's stability, balance, and walking flexibility.

[0003] The foot and calf components in existing robot designs often fail to fully simulate the natural movements of the human body, resulting in instability and restricted movement when the robot performs complex movements such as walking and running, affecting the robot's overall motion capability and adaptability. Summary of the invention

[0004] The present invention provides a humanoid robot imitating human foot and calf assembly to solve the technical problems mentioned in the background technology.

[0005] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0006] The present invention provides a humanoid robot imitating human foot and calf assembly, comprising:

[0007] A sole assembly, comprising a sole, an inertial measurement unit installed on the sole, a force sensor installed above the arch of the sole, and an adapter plate installed on the force sensor; the inertial measurement unit and the force sensor are both electrically connected to an external control module;

[0008] A calf assembly includes a calf, a cross bearing, an ankle joint bracket and an ankle joint drive module, wherein the ankle joint bracket is movably connected to the bottom of the calf through the cross bearing, the ankle joint bracket is fixedly installed on the top of the sole assembly, and the ankle joint drive module is installed on the calf to drive the ankle joint bracket to swing along the double axes of the cross bearing;

[0009] The thigh component includes a thigh and a knee joint drive module, and the thigh is rotatably connected to the top of the calf through the knee joint drive module.

[0010] Furthermore, the forefoot and the heel on the sole are separated by an arch.

[0011] Furthermore, the sole assembly also includes a sole wear-resistant cushion fixed on the bottom surface of the sole;

[0012] One end of the sole wear-resistant buffer pad is bonded to the bottom surface of the forefoot, and the other end is bonded to the bottom surface of the heel.

[0013] Furthermore, bearing holes are provided on the left and right sides of the bottom of the calf and the front and rear sides of the ankle joint support, and the cross bearings are installed in the four bearing holes to realize the movable connection of the ankle joint support to the bottom of the calf.

[0014] Further, the ankle joint driving module includes a short rod driving module and a long rod driving module;

[0015] The short rod driving module includes a first driver, a power transmission plate 1, and a short pull rod; the stator of the first driver is fixedly mounted on the calf, one end of the power transmission plate 1 is fixedly mounted on the rotor of the first driver, and the other end is rotatably connected to the top of the short pull rod, and the bottom of the short pull rod is rotatably connected to the rear of the ankle joint support;

[0016] The long rod driving module includes a second driver, a second power transmission plate, and a long pull rod; the stator of the second driver is fixedly mounted on the calf, one end of the second power transmission plate is fixedly mounted on the rotor of the second driver, and the other end is rotatably connected to the top of the long pull rod, and the bottom of the long pull rod is rotatably connected to the rear of the ankle joint support.

[0017] Furthermore, the ankle joint drive module further comprises four L-shaped rod end joint bearings, and the four L-shaped rod end joint bearings are arranged in groups of two;

[0018] One set of L-shaped rod end joint bearings is respectively installed at the top and bottom of the short tie rod, and the other set of L-shaped rod end joint bearings is respectively installed at the top and bottom of the long tie rod.

[0019] Furthermore, the calf assembly also includes a knee joint limiting plate, the bottom of the knee joint limiting plate is fixed to the top front side of the calf, and the top of the knee joint limiting plate extends upward and abuts against the bottom front side of the thigh.

[0020] Further, the knee joint driving module includes a third driver, a knee joint support plate, and a thigh support plate;

[0021] The stator of the third driver is fixedly mounted on the top of the calf, the rotor of the third driver is fixedly connected to the bottom of the thigh, the knee joint support plate is fixedly mounted on the top of the calf, and is used to limit the third driver within the third mounting hole reserved at the top of the calf, the thigh support plate is mounted at the bottom of the thigh, and the knee joint support plate and the thigh support plate are rotatably connected.

[0022] Furthermore, the knee joint drive module also includes a cross roller bearing; the cross roller bearing is arranged between the knee joint support plate and the thigh support plate to achieve a rotational connection between the knee joint support plate and the thigh support plate.

[0023] Furthermore, the force sensor is a six-dimensional force sensor, which is used to feed back the contact force and contact torque between the sole of the foot and the ground to an external control module.

[0024] Beneficial effects of the present invention:

[0025] 1. The present invention discloses a humanoid foot and calf assembly of a humanoid robot. By performing bionic structural design on the foot, calf, etc., a modular drive system and an integrated perception feedback system, the perception feedback system includes an inertial measurement unit and a force sensor, which significantly improves the performance of the humanoid robot in terms of movement flexibility, stability, load-bearing capacity and adaptability to complex terrain, solves the problems of unnatural, unstable and insufficient adaptability of robots in the prior art, and can be applied to a variety of complex application scenarios.

[0026] In addition, the sensory feedback system in the present invention adjusts the contact force between the soles of the feet and the ground in real time through force feedback and posture feedback, which enhances the robot's adaptability to the external environment, enables it to maintain stable walking and efficient load capacity on various terrains, and further improves the robot's flexibility and stability. With the help of the sensory feedback system and through precise motion control, the robot's walking stability, load-bearing capacity, and adaptability on uneven ground are improved.

[0027] 2. The sole, calf and thigh parts of the present invention adopt an integrated structural design, ensuring that the sole and calf parts have high strength and good impact resistance. At the same time, the calf adopts an integrated design, which enhances the structural stability of the entire assembly, reduces friction and energy loss between parts, and thus improves sports performance and response speed.

[0028] 3. The sole of the foot in the present invention adopts a separated arch design, and a wear-resistant cushion pad is bonded to the bottom of the sole, which effectively enhances the support performance and cushioning capacity of the entire component, especially adapting to complex ground, such as uneven roads or slopes, to maintain stable movement. The built-in six-dimensional force sensor and inertial measurement unit in the sole can provide accurate feedback information, helping the robot to adjust its movement posture and gait in real time, and ensuring the stability of the robot during dynamic walking.

[0029] 4. The present invention coordinates and controls different parts of the calf and sole by configuring multiple drivers (such as the first to third drivers), and drives the flexible movement of the knee joint, ankle joint and sole respectively. Each driver cooperates closely with the corresponding structural components to ensure that the robot can perform efficient cooperation and precise control in complex gaits. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0031] Figure 2 It is an explosion schematic diagram of the present invention;

[0032] Figure 3 It is a left side view of the present invention;

[0033] Figure 4 It is a right side view of the present invention;

[0034] Figure 5 It is a schematic diagram of the three-dimensional structure of the lower leg in the present invention;

[0035] Figure 6 It is an exploded schematic diagram of the sole assembly of the present invention;

[0036] Figure 7 is a schematic diagram of the three-dimensional structure of the sole assembly of the present invention;

[0037] Figure 8 A bottom view of the sole of the foot in the present invention;

[0038] Fig. 9 It is a schematic diagram of the three-dimensional structure of the sole of the foot in the present invention.

[0039] Description of reference numerals:

[0040] 1. Sole assembly; 11. Sole; 12. Inertial measurement unit; 13. Force sensor; 14. Adapter plate; 15. Wear-resistant cushion pad on the sole;

[0041] 2. Calf assembly; 21. Calf; 22. Cross bearing; 23. Ankle joint bracket; 24. Ankle joint drive module; 241. First drive; 242. Power transmission plate 1; 243. Short pull rod; 244. Second drive; 245. Power transmission plate 2; 246. Long pull rod; 247. L-type rod end joint bearing; 25. Knee joint limit plate;

[0042] 3. Thigh assembly; 31. Thigh; 32. Knee joint drive module; 321. Third drive; 322. Knee joint support plate; 323. Thigh support plate; 324. Cross roller bearing. DETAILED DESCRIPTION

[0043] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the present invention are provided in the drawings. However, the present invention can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0044] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0045] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0046] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0047] It should also be noted that, in the embodiments of the present application, the same figure mark is used to represent the same component or the same part. For the same parts in the embodiments of the present application, the figure may only mark one of the parts or components as an example. It should be understood that the figure mark also applies to other identical parts or components.

[0048] The top and bottom directions in the present invention are the arrow U (Up) direction and D (Down) direction in the figure respectively; the left and right directions in the present invention are the arrow L (Left) direction and R (Right) direction in the figure respectively; the front and back directions in the present invention are the arrow F (Front) direction and B (Back) direction in the figure respectively.

[0049] Reference Figure 1 and Figure 2 The present application provides a humanoid robot foot and calf assembly, including:

[0050] The sole assembly 1 includes a sole 11, an inertial measurement unit 12 installed on the sole 11, a force sensor 13 installed above the arch of the sole 11, and an adapter plate 14 installed on the force sensor 13; the inertial measurement unit 12 and the force sensor 13 are both electrically connected to an external control module on the humanoid robot; the inertial measurement unit 12 is used to feedback the motion state of the sole 11, including angle, speed, and acceleration; the force sensor 13 is placed above the arch of the sole 11, receiving the calf 21 and the sole 11, and can effectively feedback the contact force and contact torque between the sole 11 and the ground;

[0051] The calf assembly 2 comprises a calf 21, a cross bearing 22, an ankle joint support 23 and an ankle joint drive module 24. The ankle joint support 23 is movably connected to the bottom of the calf 21 through the cross bearing 22. The ankle joint support 23 is fixedly mounted on the top of the sole assembly 1. The ankle joint drive module 24 is mounted on the calf 21 and is used to drive the ankle joint support 23 to swing along the two axes of the cross bearing 22. The cross bearing 22 and the compact layout optimize the space utilization of the assembly, making the design of the entire assembly more compact and reducing the weight of the entire assembly.

[0052] The thigh component 3 includes a thigh 31 and a knee joint driving module 32 . The thigh 31 is rotatably connected to the top of the calf 21 via the knee joint driving module 32 .

[0053] The ankle joint driving module 24 and the knee joint driving module 32 are both electrically connected to the external control module on the humanoid robot to achieve intelligent control of the humanoid robot.

[0054] The present invention discloses a humanoid foot and calf assembly of a humanoid robot. By performing bionic structural design on the foot 11, calf 21, etc., a modular drive system (including an ankle joint drive module 24 and a knee joint drive module 32), and an integrated perception feedback system, the perception feedback system includes an inertial measurement unit 12 and a force sensor 13, the performance of the humanoid robot in terms of movement flexibility, stability, load-bearing capacity and adaptability to complex terrain is significantly improved, the problems of unnatural, unstable and insufficient adaptability of the robot in the prior art are solved, and the robot can be applied to a variety of complex application scenarios.

[0055] In addition, the sensory feedback system in the present invention adjusts the contact force between the sole 11 and the ground in real time through force feedback and posture feedback, thereby enhancing the robot's adaptability to the external environment, enabling it to maintain stable walking and efficient load capacity on various terrains, and further improving the robot's flexibility and stability. With the help of the sensory feedback system and through precise motion control, the robot's walking stability, load-bearing capacity, and adaptability on uneven ground are improved.

[0056] In addition, the sole 11, calf 21 and thigh 31 of the present invention adopt an integrated structural design, which ensures that the sole 11 and calf 21 components have high strength and good impact resistance. At the same time, the calf 21 adopts an integrated design, which enhances the structural stability of the entire assembly, reduces friction and energy loss between components, and thus improves sports performance and response speed.

[0057] In some embodiments, the forefoot and the heel of the sole 11 are separated by the arch, which improves the structural strength and impact resistance of the entire assembly and can withstand greater loads and external impact forces. At the same time, the sole 11 adopts an arch separation design, which effectively improves the support force of the sole 11, helps the robot maintain balance during walking, and avoids falling due to unstable gait. In addition, the sole 11 adopts a humanoid design, which improves the robot's adaptability on uneven roads. For the specific structure of the sole 11, please refer to Figure 8 and Fig. 9 .

[0058] In some embodiments, reference Figure 6 and Figure 7 , the sole assembly 1 also includes a sole wear-resistant cushioning pad 15 fixed on the bottom surface of the sole 11;

[0059] One end of the plantar wear-resistant cushion pad 15 is bonded to the bottom surface of the forefoot, and the other end is bonded to the bottom surface of the heel. The plantar wear-resistant cushion pad 15 is made of rubber material, which has good wear resistance and can effectively reduce the impact force generated during gait, protect the overall structure of the robot, especially during long-term or high-speed movement, and reduce mechanical fatigue.

[0060] The sole 11 of the present invention adopts a separated arch design, and a sole wear-resistant cushion pad 15 is bonded to the bottom of the sole 11, which effectively enhances the support performance and cushioning capacity of the entire assembly, especially adapting to complex ground, such as uneven roads or slopes, to maintain stable movement. The six-dimensional force sensor and inertial measurement unit 12 built into the sole can provide accurate feedback information, helping the robot to adjust its movement posture and gait in real time, and ensuring the stability of the robot during dynamic walking.

[0061] In some embodiments, the lower leg 21 adopts an integrated structure to enhance the overall strength and impact resistance. The overall modular design is easy to maintain and replace, reducing the complexity of the overall system. Figure 5 shown.

[0062] In some embodiments, reference Figures 5 to 7The left and right sides of the bottom of the calf 21 and the front and rear sides of the ankle support 23 are provided with bearing holes, and the cross bearing 22 is installed in the four bearing holes to realize the ankle support 23 being movably connected to the bottom of the calf 21. The cross bearing 22 has two cross-crossing axes, and the ankle support 23 can rotate around the two axes of the cross bearing 22, with flexible movement, strong interchangeability, easy maintenance, and high space utilization.

[0063] In some embodiments, the ankle joint support 23 is an integrated structure, the bottom surface of which is fixed to the adapter plate 14 to form the foot of the humanoid robot. The ankle joint support 23 adopts a modular design to facilitate subsequent maintenance.

[0064] In some embodiments, reference Figure 3 and Figure 4 , the ankle joint driving module 24 includes a short rod driving module and a long rod driving module;

[0065] The short rod driving module includes a first driver 241, a power transmission plate 242, and a short pull rod 243; the stator of the first driver 241 is fixedly installed in a first mounting hole reserved for the lower leg 21, one end of the power transmission plate 242 is fixedly installed on the rotor of the first driver 241, and the other end is rotatably connected to the top of the short pull rod 243, and the bottom of the short pull rod 243 is rotatably connected to the rear of the ankle joint support 23;

[0066] The long rod driving module includes a second driver 244, a second power transmission plate 245, and a long pull rod 246; the stator of the second driver 244 is fixedly installed in a second mounting hole reserved for the calf 21, one end of the second power transmission plate 245 is fixedly installed on the rotor of the second driver 244, and the other end is rotatably connected to the top of the long pull rod 246, and the bottom of the long pull rod 246 is rotatably connected to the rear of the ankle joint support 23.

[0067] The ankle joint driver (ie, the first driver 241 and the second driver 244) moves upward, which reduces the motion inertia at the ankle joint and improves the response speed and dynamic stability of the robot.

[0068] In some embodiments, reference Figure 3 and Figure 4 The ankle joint drive module 24 also includes four L-shaped rod end joint bearings 247, and the four L-shaped rod end joint bearings 247 are arranged in groups of two;

[0069] One set of L-shaped rod end joint bearings 247 is respectively installed at the top and bottom of the short pull rod 243 , and the other set of L-shaped rod end joint bearings 247 is respectively installed at the top and bottom of the long pull rod 246 .

[0070] The ankle joint drive module 24 in the present invention transmits power from the first driver 241 and the second driver 244 to the sole 11 through the L-shaped rod end joint bearing 247, the short rod drive module and the long rod drive module, ensuring the flexible movement of the sole 11 and making the cooperation of the various components in the assembly smoother.

[0071] In some embodiments, reference Figure 1 and Figure 2 The calf assembly 2 also includes a knee joint limiting plate 25, the bottom of which is fixed to the top front side of the calf 21, and the top of which extends upward and abuts against the bottom front side of the thigh 31 to avoid the angle between the calf 21 and the front side of the thigh 31 being less than 180 degrees, thereby increasing the stability and safety of the robot's movement.

[0072] In some embodiments, reference Figure 2 , the knee joint driving module 32 includes a third driver 321, a knee joint supporting plate 322, and a thigh supporting plate 323;

[0073] The stator of the third driver 321 is fixedly installed in the third mounting hole reserved at the top of the calf 21, the rotor of the third driver 321 is fixedly connected to the bottom of the thigh 31, the knee joint support plate 322 is fixedly installed at the top of the calf 21, and is used to limit the third driver 321 in the third mounting hole reserved at the top of the calf 21, the thigh support plate 323 is installed at the bottom of the thigh 31, and the knee joint support plate 322 and the thigh support plate 323 are rotatably connected.

[0074] The knee joint adopts a direct drive design, that is, the knee joint is directly driven by the third driver 321, which reduces the energy loss of the connecting rod (including the long connecting rod 246 and the short connecting rod 243), thereby improving the overall movement performance of the robot.

[0075] The present invention coordinates and controls different parts of the calf 21 and the sole 11 by configuring multiple drivers (i.e., the first driver 241, the second driver 244, and the third driver 321), respectively driving the flexible movement of the knee joint, the ankle joint, and the sole 11. Each driver closely cooperates with the corresponding structural components to ensure that the robot can perform efficient cooperation and precise control in complex gaits.

[0076] In some embodiments, reference Figure 2The knee joint drive module 32 further includes a cross roller bearing 324; the cross roller bearing 324 is arranged between the knee joint support plate 322 and the thigh support plate 323 to realize the rotational connection between the knee joint support plate 322 and the thigh support plate 323. The knee joint support plate 322 is fixed on the calf 21 and the third driver 321, which improves the structural strength and stability of the knee joint. The knee joint support plate 322 is rotationally connected to the thigh support plate 323 through the cross roller bearing 324, which improves the load stability and load capacity of the knee joint.

[0077] In some embodiments, the force sensor 13 is a six-dimensional force sensor, which is used to feed back the contact force and contact torque between the sole 11 and the ground to an external control module.

[0078] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered within the protection scope of the present invention. In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A humanoid robot imitating human foot and calf assembly, characterized in that: include: A sole assembly (1) comprises a sole (11), an inertial measurement unit (12) mounted on the sole (11), a force sensor (13) mounted above the arch of the sole (11), and an adapter plate (14) mounted on the force sensor (13); the inertial measurement unit (12) and the force sensor (13) are both electrically connected to an external control module; A calf assembly (2), comprising a calf (21), a cross bearing (22), an ankle joint support (23) and an ankle joint drive module (24), wherein the ankle joint support (23) is movably connected to the bottom of the calf (21) via the cross bearing (22), the ankle joint support (23) is fixedly mounted on the top of the sole assembly (1), and the ankle joint drive module (24) is mounted on the calf (21) and is used to drive the ankle joint support (23) to swing along the two axes of the cross bearing (22); The thigh component (3) comprises a thigh (31) and a knee joint driving module (32), wherein the thigh (31) is rotatably connected to the top of the calf (21) via the knee joint driving module (32).

2. The humanoid robot foot and calf assembly according to claim 1, characterized in that: The forefoot and the heel on the sole (11) are separated by the arch.

3. The humanoid robot imitating human foot and calf assembly according to claim 1, characterized in that: The sole assembly (1) further comprises a sole wear-resistant cushioning pad (15) fixed on the bottom surface of the sole (11); One end of the sole wear-resistant cushion (15) is bonded to the bottom surface of the forefoot, and the other end is bonded to the bottom surface of the heel.

4. The humanoid robot foot and calf assembly according to claim 1, characterized in that: The left and right sides of the bottom of the calf (21) and the front and rear sides of the ankle joint support (23) are provided with bearing holes, and the cross bearing (22) is installed in the four bearing holes to realize the movable connection of the ankle joint support (23) to the bottom of the calf (21).

5. The humanoid robot imitating human foot and calf assembly according to claim 1, characterized in that: The ankle joint driving module (24) comprises a short rod driving module and a long rod driving module; The short rod driving module comprises a first driver (241), a power transmission plate 1 (242), and a short pull rod (243); the stator of the first driver (241) is fixedly mounted on the calf (21); one end of the power transmission plate 1 (242) is fixedly mounted on the rotor of the first driver (241), and the other end is rotatably connected to the top of the short pull rod (243); and the bottom of the short pull rod (243) is rotatably connected to the rear of the ankle joint support (23); The long rod driving module comprises a second driver (244), a second power transmission plate (245), and a long pull rod (246); the stator of the second driver (244) is fixedly mounted on the calf (21), one end of the second power transmission plate (245) is fixedly mounted on the rotor of the second driver (244), and the other end is rotatably connected to the top of the long pull rod (246), and the bottom of the long pull rod (246) is rotatably connected to the rear of the ankle joint support (23).

6. The humanoid robot foot and calf assembly according to claim 5, characterized in that: The ankle joint drive module (24) further comprises four L-shaped rod end joint bearings (247), wherein the four L-shaped rod end joint bearings (247) are arranged in groups of two; One group of L-shaped rod end joint bearings (247) is respectively installed at the top and bottom of the short pull rod (243), and the other group of L-shaped rod end joint bearings (247) is respectively installed at the top and bottom of the long pull rod (246).

7. The humanoid robot foot and calf assembly according to claim 1, characterized in that: The calf assembly (2) further comprises a knee joint limiting plate (25), the bottom of which is fixed to the top front side of the calf (21), and the top of which extends upward and abuts against the bottom front side of the thigh (31).

8. The humanoid robot foot and calf assembly according to claim 1, characterized in that: The knee joint driving module (32) comprises a third driver (321), a knee joint supporting plate (322), and a thigh supporting plate (323); The stator of the third driver (321) is fixedly mounted on the top of the calf (21), the rotor of the third driver (321) is fixedly connected to the bottom of the thigh (31), the knee joint support plate (322) is fixedly mounted on the top of the calf (21) and is used to restrict the third driver (321) within a third mounting hole reserved at the top of the calf (21), the thigh support plate (323) is mounted on the bottom of the thigh (31), and the knee joint support plate (322) and the thigh support plate (323) are rotatably connected.

9. The humanoid robot imitating humanoid foot and calf assembly according to claim 8, characterized in that: The knee joint drive module (32) further comprises a cross roller bearing (324); the cross roller bearing (324) is arranged between the knee joint support plate (322) and the thigh support plate (323) to achieve rotational connection between the knee joint support plate (322) and the thigh support plate (323).

10. The humanoid robot imitating humanoid foot and calf assembly according to any one of claims 1 to 9, characterized in that: The force sensor (13) is a six-dimensional force sensor, which is used to feed back the contact force and contact torque between the sole (11) and the ground to an external control module.

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