Bionic attachment foot structure and humanoid robot with same

Abstract

The bionic attachment foot structure comprises a connecting assembly and a self-adaption assembly, the connecting assembly comprises a connecting base, the connecting base is used for being connected with the humanoid robot, the connecting base is provided with a first matching part, the self-adaption assembly comprises a rotating base and an attachment part, the rotating base is provided with a first matching part, and the attachment part is provided with a second matching part. The rotating seat is provided with a second matching part, the first matching part is matched with the second matching part, the second matching part can rotate around the center point of the first matching part, the attachment part is detachably connected with the rotating seat and located on the side, close to the bottom face, of the rotating seat, the attachment part has an attachment state and a release state, and in the release state, a gap is formed between the attachment part and the ground; in the attaching state, at least part of the attaching piece makes contact with the ground. According to the bionic auxiliary foot structure, the balance of the humanoid robot can be improved, and the system complexity and cost of the humanoid robot are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and in particular, to a bionic attachment foot structure and a humanoid robot having the same. Background Art

[0002] With the continuous development of robot technology, humanoid robots are becoming more and more common in various application scenarios, such as medical rehabilitation, service, rescue, etc. However, how to enable robots to maintain standing stability like humans and adapt to various complex terrains remains a technical problem to be solved urgently.

[0003] In related technologies, traditional humanoid robots rely on complex attitude control algorithms to achieve standing balance, and usually require a large amount of sensor data, real-time operation, and precise control to continuously adjust the position, center of gravity, and ground contact points of the robot. This method greatly depends on the hardware configuration and control algorithm, increasing the system complexity and cost. In addition, due to the limitation of the sole design, when facing rough, uneven, or slippery ground, the robot is prone to losing balance, resulting in unstable standing, falling, or out of control. Summary of the Invention

[0004] The present invention is made based on the inventor's discovery and recognition of the following facts and problems:

[0005] Bionic technology provides a new solution idea for humanoid robots. Organisms such as geckos, insects, frogs, octopuses, etc. can stand or walk on smooth vertical surfaces, rough rocks, or slippery water surfaces. These organisms show excellent attachment capabilities on various complex surfaces through different grasping methods and mechanisms, such as dry adhesion, wet adhesion, claw grasping, suction cup attachment, electrostatic adsorption, etc. By imitating the biological characteristics in nature, designing a robot foot structure that can adapt to various complex environments can effectively improve the standing stability of humanoid robots in complex environments and reduce the dependence on complex attitude control systems at the same time.

[0006] The present invention aims to solve at least one of the technical problems in the related technologies to some extent.

[0007] To this end, an embodiment of the present invention provides a bionic attachment foot structure and a humanoid robot having the same according to an embodiment of the present invention. The bionic auxiliary foot structure can improve the balance of the humanoid robot and reduce the system complexity and cost of the humanoid robot.

[0008] The bionic attachment foot structure according to an embodiment of the present invention includes:

[0009] A connection component, the connection component includes a connection seat, the connection seat is used to be connected to a humanoid robot, and the connection seat has a first mating portion;

[0010] An adaptive component, the adaptive component includes a rotating seat and an attachment member, the rotating seat has a second mating portion, the first mating portion is adapted to the second mating portion, and the second mating portion is rotatable around the center point of the first mating portion.

[0011] The attachment member is detachably connected to the rotating seat and is located on one side of the rotating seat adjacent to the bottom surface.

[0012] The attachment member has an attachment state and a release state. In the release state, there is a gap between the attachment member and the ground. In the attachment state, at least part of the attachment member is in contact with the ground.

[0013] A detection member, the detection member is connected to the attachment member, and the detection member is used to detect the attitude of the attachment member and the pressure between the attachment member and the contact part with the ground.

[0014] The bionic attachment foot structure of the embodiment of the present invention can enable the humanoid robot to maintain good balance and stability by relying on physical adhesion without relying on complex attitude control algorithms when stationary. And due to the enhancement of the physical attachment effect, the dependence of the robot on complex attitude control algorithms when standing is reduced, the demand for sensor data processing and real-time calculation is reduced, thereby simplifying the control system. In addition, by using different bionic attachment members in combination for different ground conditions, the robot can adapt to various complex environments, including smooth, slippery, rough, irregular or inclined ground.

[0015] In some embodiments, the attachment member has an adhesion surface, and in the attachment state, the adhesion surface is used to adhere to the ground.

[0016] In some embodiments, the attachment member includes an attachment suction cup, and in the attachment state, the attachment suction cup is used to adsorb on the ground.

[0017] In some embodiments, the attachment member includes a claw mechanism and a tensioning and releasing mechanism. The tensioning and releasing mechanism is connected to the claw mechanism, and in the attachment state, the tensioning and releasing mechanism is used to drive the claw mechanism to grip and lock on the ground.

[0018] In some embodiments, the attachment member includes an electrostatic generating component, and in the attachment state, the electrostatic generating component is used to adhere to the ground through electrostatic force.

[0019] In some embodiments, the attachment member includes an electromagnetic induction component, and in the attachment state, the electromagnetic induction component is used to magnetically attract magnetic materials on the ground.

[0020] In some embodiments, the connection base includes a connected connection top base and a connection bottom base. The connection top base has a flange that extends toward the humanoid robot side. The flange and the bottom wall of the connection top base define a connection area. The lower end of the humanoid robot is placed in the connection area, and the first mating part is placed in the lower part of the connection bottom base.

[0021] In some embodiments, the connection base further includes a buffer pad connected between the connection top base and the connection bottom base.

[0022] In some embodiments, the adaptive component further includes elastic members. The first end of each elastic member is connected to the connection bottom base, and the second end is connected to the rotating base. There are multiple elastic members, and the multiple elastic members are arranged at intervals along the circumference of the second mating part.

[0023] The humanoid robot according to the embodiment of the present invention includes a head component, a torso component, and a limb component connected in sequence. The limb component includes a moving foot structure for driving the driving component to move. The moving foot structure includes the bionic attachment foot structure according to any one of the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic structural diagram of the bionic attachment foot structure according to the embodiment of the present invention.

[0025] Figure 2 is a schematic structural diagram of the humanoid robot according to the embodiment of the present invention.

[0026] Reference Signs:

[0027] 100, humanoid robot,

[0028] 1, connection component, 11, connection base, 111, connection top base, 1111, flange, 112, connection bottom base, 1121, first mating part, 113, buffer pad,

[0029] 2, adaptive component, 21, rotating base, 211, first mating part, 22, attachment member, 23, elastic member,

[0030] 10, head component, 20, torso component, 30, limb component, 301, moving foot structure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0032] Such as Figure 1 AndFigure 2 As shown, the bionic attachment foot structure of the embodiment of the present invention includes a connection component 1, an adaptive component 2, and a detection component.

[0033] The connection component 1 includes a connection seat 11, and the connection seat 11 is used to be connected to the humanoid robot 100. The connection seat 11 has a first mating portion 1121. The adaptive component 2 includes a rotating seat 21 and an attachment member 22. The rotating seat 21 has a second mating portion. The first mating portion 1121 is adapted to the second mating portion, and the second mating portion can rotate around the center point of the first mating portion 1121. The attachment member 22 is detachably connected to the rotating seat 21 and is located on the side of the rotating seat 21 adjacent to the bottom surface. The attachment member 22 has an attachment state and a release state. In the release state, there is a gap between the attachment member 22 and the ground. In the attachment state, at least part of the attachment member 22 is in contact with the ground.

[0034] Specifically, as Figure 1 and Figure 2 shown, the upper end of the connection seat 11 is connected to the humanoid robot 100. The humanoid robot 100 and the connection seat 11 can be connected by plugging or screwing, so as to be more convenient for disassembly and assembly, and can also be adaptively installed with different models of humanoid robots 100. The first mating portion 1121 is located at the bottom of the connection seat 11, and the second mating portion is located at the top of the rotating seat 21. The first mating portion 1121 is connected to the first mating portion 1121 in a mating manner, so that the rotating seat 21 can rotate relative to the connection seat 11, so that the humanoid robot 100 can adaptively contact the ground under different ground conditions, ensuring the stability of the humanoid robot 100 standing.

[0035] It can be understood that the first mating portion 1121 and the second mating portion can be a ball joint structure, or a multi-axis structure can be adopted, so that the second mating portion can rotate around a center point relative to the first mating portion 1121 to realize the adaptive adjustment of the humanoid robot 100.

[0036] The detection member is connected to the attachment member 22, and the detection member is used to detect the posture and pressure of the attachment member 22. It is understandable that the detection member includes a sensor module and a gait control module, and the detection member is electrically connected to the control system of the bionic foot structure (or humanoid robot 100). When the control system of the bionic foot structure (or humanoid robot 100) determines the standing and walking states, the contact between the bionic foot structure (or humanoid robot 100) and the ground is detected by the sensor module. When a foot of the bionic foot structure (or humanoid robot 100) is lifted, the system will automatically control the attachment member 22 of the foot to switch to a detached state so as to lift the foot smoothly. When the bionic foot structure (or humanoid robot 100) enters the standing mode or lands again from lifting, the sensor module will activate the attachment module member, so that the attachment member 22 is fully in contact with the ground and quickly generates adhesion, ensuring that the bionic foot structure (or humanoid robot 100) stands and walks stably.

[0037] It should be noted that the attachment 22 and the rotating seat 21 can be connected by plug-in, snap-on or threaded connection, so that the attachment 22 can be selected or replaced with a component that is more adaptable to the ground according to different ground environments. For example, when standing on a smooth vertical surface, a rough rock or a slippery water surface, it can be attached by attachment methods such as dry adhesion, wet adhesion, claw attachment, suction cup attachment, electrostatic adsorption, etc., which ensures the adaptability of the humanoid robot 100 in multiple environments, enhances the task execution capability, and simplifies the control system.

[0038] In other words, the bionic attachment foot structure of the embodiment of the present invention can utilize the adaptive component 2 to enable the humanoid robot 100 to maintain good balance and stability by relying on physical adhesion without relying on complex posture control algorithms when stationary. Moreover, due to the enhanced physical adhesion effect, the robot's reliance on complex posture control algorithms when standing is reduced, reducing the need for sensor data processing and real-time calculation, thereby simplifying the control system. In addition, by combining different bionic attachments 22 for different ground conditions, the robot can adapt to various complex environments, including smooth, slippery, rough, irregular or inclined ground.

[0039] Optionally, the attachment 22 has an adhesion surface, and in the attached state, the adhesion surface is used to adhere to the ground. It is understandable that the adhesion surface can be a surface made of a sticky material, such as a gecko-like dry adhesion surface, that is, by generating van der Waals forces, the attachment 22 can be firmly adhered to the surface. Of course, the adhesion surface can also be a columnar fiber array dry adhesion surface, a mushroom-shaped dry adhesion surface, a wedge-shaped dry adhesion surface, a smooth dry adhesion surface without microstructures, a single-layer structure dry adhesion surface, a multi-layer structure dry adhesion surface, etc.

[0040] Optionally, the attachment member 22 includes an attachment suction cup which, in the attached state, is used to adsorb on the ground. It can be understood that the attachment suction cup can be a bionic suction cup structure, that is, a local vacuum is formed between the attachment suction cup and the ground, so as to provide a strong adsorption force on a smooth or wet surface. Preferably, the material of the attachment suction cup is designed to have high elasticity and wear resistance, and can maintain stable function during multiple adhesions and releases. In addition, the attachment suction cup can also be a passive suction cup, an active suction cup, a bionic octopus suction cup, a bionic fish suction cup, a bionic micro-structure suction cup, a suction cup with skirt modification, a suction cup with an internal support structure, a suction cup with an external support structure, a Bernoulli suction cup, etc.

[0041] Optionally, the attachment member 22 includes a claw mechanism and a tensioning and releasing mechanism. The tensioning and releasing mechanism is connected to the claw mechanism. In the attached state, the tensioning and releasing mechanism is used to drive the claw mechanism to grasp and lock on the ground. It can be understood that the claw mechanism is composed of multiple retractable claws, and the tensioning and releasing mechanism is usually driven by a spring, a motor or a hydraulic system. That is, the tensioning and releasing mechanism drives the claw mechanism to extend, so that the claws firmly grasp the ground; when release is required, the tensioning and releasing mechanism relaxes and the claws contract. Preferably, the attachment member 22 can be a spiny structure imitating birds and insects, etc. The claw unit can grab and lock on a rough ground to form a mechanical lock, which is suitable for use on stony and irregular grounds. In addition, the attachment member 22 can also be an imitation eagle claw, an imitation insect micro-spine and its array, a magic tape, etc.

[0042] Optionally, the attachment member 22 includes an electrostatic generating component which, in the attached state, is used to attach to the ground by electrostatic force. It can be understood that the electrostatic generating component includes a high-voltage power supply and an electrode, and the electrode is usually placed on the surface of the attachment member 22. That is, an electrostatic charge is generated by the high-voltage power supply, so that the surface of the electrode is charged, and the electrostatic force is used to adsorb to an object on the ground.

[0043] That is to say, the electrostatic generating component can be an electrostatic generating device, that is, an electrostatic generating device is added to the bionic attachment module at the bottom of the robot, and an electrostatic force is generated through the action of an electric field when contacting the ground, so that the attachment member 22 attaches to the ground.

[0044] Optionally, the attachment member 22 includes an electromagnetic induction component which, in the attached state, is used to magnetically adsorb a magnetic material on the ground. It can be understood that the electromagnetic induction component includes a coil, a magnet and a controller, and the coil is wound around the magnet. That is, a magnetic field is generated by passing an electric current through the coil, and the adsorption is achieved by using the attraction between the magnet and the magnetic material on the ground.

[0045] In other words, the electromagnetic induction component can be an electromagnetic induction device, which can generate a strong magnetic adsorption effect on the wall surface of ferromagnetic materials. The attachment and detachment of the attachment module can be controlled by controlling the on-off of the current.

[0046] In some embodiments, the connecting seat 11 includes a connected connecting top seat 111 and a connecting bottom seat 112. The connecting top seat 111 has a flange 1111 that extends toward the humanoid robot 100. The flange 1111 and the bottom wall of the connecting top seat 111 define a connecting area. The lower end of the humanoid robot 100 is placed in the connecting area, and the first mating portion 1121 is placed at the lower part of the connecting bottom seat 112.

[0047] Specifically, as Figure 1 and Figure 2 shown, the connecting top seat 111 is located above the connecting bottom seat 112, and the flange 1111 is provided at the upper edge of the connecting top seat 111. The flange 1111 is symmetrically arranged in the left-right direction to facilitate the connection of the flange 1111 to the lower end of the humanoid robot 100 by bolts, which not only increases the connection strength but also reduces the possibility of misalignment between the humanoid robot 100 and the connecting seat 11 during use. The first mating portion 1121 is located on the lower bottom wall of the connecting bottom seat 112 to facilitate connection with the second mating portion.

[0048] In some embodiments, the connecting seat 11 further includes a buffer pad 113, and the buffer pad 113 is connected between the connecting top seat 111 and the connecting bottom seat 112. It can be understood that the material of the buffer pad 113 can be polyurethane foam, or other durable and soft materials such as silica gel, so as to effectively absorb the impact force generated when the robot stands or walks.

[0049] In some embodiments, the adaptive component 2 further includes elastic members 23. The first ends of the elastic members 23 are connected to the connecting bottom seat 112, and the second ends of the elastic members 23 are connected to the rotating seat 21. There are multiple elastic members 23, and the multiple elastic members 23 are arranged at intervals along the circumference of the second mating portion.

[0050] Specifically, as Figure 1 and Figure 2 shown, the upper ends of the elastic members 23 are connected to the connecting bottom seat 112, and the lower ends of the elastic members 23 are connected to the rotating seat 21. The elastic members 23 can be springs, and when the center lines of the connecting bottom seat 112 and the rotating seat 21 coincide, the elastic members 23 are in an initial state.

[0051] It can be understood that when the attachment member 22 is not in contact with the ground, the attachment member 22 is in an initial pose. When the attachment member 22 contacts the ground and the rotating seat 21 rotates relative to the connecting bottom seat 112 (i.e., when the pose of the attachment member 22 changes), the elastic members 23 are deformed (stretched or contracted) by the force. When the humanoid robot 100 walks and the attachment member 22 in contact with the ground is separated from the ground, the rotating seat 21 returns to its original state under the elastic force of the elastic members 23, causing the attachment member 22 to return to its initial pose.

[0052] Preferably, among the plurality of elastic members 23, the spacing distance between every two adjacent elastic members 23 is equal.

[0053] The humanoid robot according to an embodiment of the present invention will be described below with reference to the drawings.

[0054] As Figure 1 and Figure 2 shown, the humanoid robot according to an embodiment of the present invention includes a head assembly 10, a torso assembly 20, and a limb assembly 30 that are connected in sequence. The limb assembly 30 includes a moving foot structure 301 that is used to drive the driving assembly to move. The moving foot structure 301 includes the bionic attachment foot structure of any one of the above embodiments.

[0055] It can be understood that the head assembly 10 is generally designed in the shape of a human head, and sensing devices such as cameras and microphones can be installed inside to obtain visual and auditory information of the surrounding environment. Some advanced humanoid robot heads can also perform actions such as rotation, nodding, and shaking the head to simulate human expressions and postures.

[0056] The torso assembly 20 is the main body part of the robot, which plays a role in supporting and protecting internal components. It is usually used to accommodate the control system, power supply, and some driving devices of the robot.

[0057] The limb assembly 30 includes two arms and two legs. The arms generally have joints with multiple degrees of freedom and can complete complex actions such as grasping, carrying, and operating tools; the legs need to have good support and movement capabilities to achieve movement functions such as walking, running, and going up and down stairs.

[0058] Among them, the moving foot structure 301 (i.e., the bionic foot structure in the above embodiment) provided at the bottom of the leg in the limb assembly 30 can generate the power to drive the robot to move forward, backward, turn, etc. through the contact and force between the bionic attachment foot structure and the ground, and realize the moving function of the robot on different terrains. The bionic attachment foot structure usually imitates the characteristics of the feet of organisms and has good grip and adaptability. It can attach and move on uneven ground, vertical surfaces, and even inverted surfaces, enhancing the robot's ability to move in complex environments.

[0059] Thus, the humanoid robot according to the embodiments of the present invention can not only maintain good balance and stability by relying on physical adhesion without relying on complex attitude control algorithms when stationary, but also reduce the dependence on complex attitude control algorithms when the humanoid robot 100 stands due to the enhanced physical adhesion effect, reducing the requirements for sensor data processing and real-time calculation, thereby simplifying the control system. Moreover, different bionic attachment surfaces can be combined and used according to different ground conditions, enabling the robot to adapt to various complex environments, including smooth, slippery, rough, irregular or inclined ground. In addition, the bionic auxiliary foot structure can also adopt a modular design, which is convenient for replacement, upgrade and maintenance, and is applicable to various application scenarios of the humanoid robot 100.

[0060] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0061] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0062] In the present invention, unless otherwise clearly specified and limited, the terms "mounted", "connected", "connected to", "fixed" and other terms should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection or communication with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] In the present invention, unless otherwise explicitly specified or limited, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "below" and "beneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is less than that of the second feature.

[0064] In the present invention, the terms "an embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0065] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A bionic attachment foot structure, characterized in that, Comprising: A connection component, the connection component includes a connection base, the connection base is used to be connected to a humanoid robot, and the connection base has a first mating part; An adaptive component, the adaptive component includes a rotating base and an attachment part, the rotating base has a second mating part, the first mating part is adapted to the second mating part, and the second mating part can rotate around the center point of the first mating part, The attachment part is detachably connected to the rotating base and is located on the side of the rotating base adjacent to the bottom surface, The attachment part has an attachment state and a release state. In the release state, there is a gap between the attachment part and the ground. In the attachment state, at least part of the attachment part is in contact with the ground; A detection component, the detection component is connected to the attachment part, and the detection component is used to detect the attitude of the attachment part and the pressure between the attachment part and the contact part with the ground.

2. The bionic attachment foot structure according to claim 1, characterized in that The attachment part has an adhesion surface, and in the attachment state, the adhesion surface is used to adhere to the ground.

3. The bionic attachment foot structure according to claim 1, wherein, The attachment part includes an attachment suction cup, and in the attachment state, the attachment suction cup is used to adsorb on the ground.

4. The bionic attachment foot structure according to claim 1, characterized in that The attachment part includes a claw mechanism and a tensioning and releasing mechanism, the tensioning and releasing mechanism is connected to the claw mechanism, and in the attachment state, the tensioning and releasing mechanism is used to drive the claw mechanism to grasp and lock on the ground.

5. The bionic attachment foot structure according to claim 1, characterized in that, The attachment part includes an electrostatic generating component, and in the attachment state, the electrostatic generating component is used to adhere to the ground through electrostatic force.

6. The bionic attachment foot structure according to claim 1, wherein The attachment part includes an electromagnetic induction component, and in the attachment state, the electromagnetic induction component is used to magnetically attract magnetic materials on the ground.

7. The bionic attachment foot structure according to any one of claims 1-6, characterized in that, The connection base includes a connected connection top base and a connection bottom base. The connection top base has a flange, the flange extends toward the side of the humanoid robot, and the flange and the bottom wall of the connection top base define a connection area. The lower end of the humanoid robot is placed in the connection area, and the first mating part is placed in the lower part of the connection bottom base.

8. The bionic attachment foot structure according to claim 7, characterized in that, The connection base further includes a buffer pad, and the buffer pad is connected between the connection top base and the connection bottom base.

9. The bionic attachment foot structure according to claim 8, characterized in that, The adaptive component further includes elastic members. The first end of the elastic member is connected to the connection bottom base, and the second end of the elastic member is connected to the rotating base. There are multiple elastic members, and the multiple elastic members are arranged at intervals along the circumference of the second mating part.

10. A humanoid robot, characterized in that, Including a head component, a torso component and a limb component connected in sequence. The limb component includes a moving foot structure, the moving foot structure is used to drive the driving component to move, and the moving foot structure includes the bionic attachment foot structure according to any one of claims 1-9.

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