Robotic foot sensing module, humanoid robot and control method thereof

Abstract

This invention discloses a robotic foot sensing module, a humanoid robot, and its control method. The human foot sensing module includes: a robotic shoe body, a liquid metal pressure sensor, and a shock-absorbing sole. The robotic shoe body includes a main body and a sole, with the sole connected to the main body. In the height direction of the robotic foot sensing module, the sole is located below the main body. The liquid metal pressure sensor includes a flexible support substrate and liquid metal circuitry printed on the flexible support substrate. The liquid metal circuitry and the flexible support substrate form an integral sheet structure. The liquid metal pressure sensor is clamped between the shock-absorbing sole and the sole. This invention uses a liquid metal pressure sensor with an integral sheet structure of liquid metal circuitry and flexible support substrate, eliminating the need for alignment with grooves in robotic foot sensors and reducing the risk of damage from contact when the sensor is installed in the groove. The structure is simpler and the thickness is also lower.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robot foot sensing module, a humanoid robot, and a control method thereof. Background Technology

[0002] Chinese Patent Application Publication No. CN119262120A discloses a mechanical leg structure and a robot, in which a sensor 1038 is disposed at the bottom of a buffer part 1036, and a sensor mounting groove 10361 is provided at the bottom of the buffer part 1036. By installing the sensor 1038 in the sensor mounting groove 10361, the magnitude of the pressure value can be monitored when the sensor 1038 is subjected to pressure.

[0003] Chinese Patent Application Publication No. CN118405213A discloses a foot sensing structure, a foot structure, and a humanoid robot. The foot sensing structure 10, by distributing at least four sets of sensor assemblies 200 on the left toe 112, right toe 113, left heel 132, and right heel 133 respectively, can detect force on each part of the foot structure. Furthermore, the toe 110 has a first partition groove 111 extending to the edge of the toe 110, dividing the toe 110 into sections. The foot is divided into a left toe portion 112 and a right toe portion 113. The heel portion 130 has a second partition groove 131 that extends to the edge of the heel portion 130 and divides the heel portion 130 into a left heel portion 132 and a right heel portion 133. This reduces the mutual interference of force detection on the left toe portion 112, the right toe portion 113, the left heel portion 132, and the right heel portion 133, and improves the detection accuracy of the force on the foot structure. This enhances the control capability of the humanoid robot when walking on complex terrain or performing difficult actions.

[0004] The aforementioned prior art requires the humanoid robot's sensors to be inserted into the groove. Since the sensors are very small, they are difficult to align, and there is a risk of sensor damage from contact during installation. Summary of the Invention

[0005] The technical problem to be solved by this invention is to provide a robot foot sensing module with more reliable structural detection.

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: A robotic foot sensing module includes: a robotic shoe body, a liquid metal pressure sensor, and a shock-absorbing sole. The robotic shoe body includes a main body and a sole, with the sole connected to the main body. In the height direction of the robotic foot sensing module, the sole is located below the main body. The liquid metal pressure sensor includes a flexible support substrate and liquid metal circuitry printed on the flexible support substrate, the liquid metal circuitry and the flexible support substrate forming an integral sheet structure. The liquid metal pressure sensor is clamped between the shock-absorbing sole and the sole.

[0007] Compared with the prior art, the present invention uses a liquid metal pressure sensor with the liquid metal circuit and the flexible support substrate integrated into a sheet structure, which eliminates the process of aligning the robot foot sensor with the groove and reduces the risk of damage caused by contact when the sensor is installed in the groove, thus making the detection more reliable, and the structure is simpler and the thickness is also lower.

[0008] Furthermore, the liquid metal sensor is formed using a PVC thin-film printing process, and the flexible support substrate is in the form of a thin film. In the height direction of the robot's foot sensing module, the thickness of the liquid metal pressure sensor is less than the thickness of the shock-absorbing base plate. The thin-film printing process makes the sensor ultra-thin and flexible, reducing the height of the foot module to improve the stability of the overall machine's center of gravity. The sensor thickness being less than the shock-absorbing base plate ensures that the shock-absorbing layer preferentially absorbs energy and buffers, effectively protecting the sensor from impact damage.

[0009] Furthermore, the planar shape of the liquid metal pressure sensor is the same as that of the shoe sole, and the liquid metal pressure sensor is bonded to the bottom surface of the shoe sole. The shape of the liquid metal pressure sensor is adapted to the shoe sole. This consistent shape and bonding to the bottom surface of the shoe sole achieves full-area stress coverage, eliminating detection blind spots; surface bonding replaces groove embedding, simplifying assembly and ensuring a firm connection, guaranteeing signal consistency and reliability under long-term foot traffic.

[0010] Furthermore, the planar shape of the liquid metal pressure sensor is the same as that of the shock-absorbing base plate. The liquid metal pressure sensor is bonded to the top surface of the shock-absorbing base plate, and its shape is adapted to the shock-absorbing base plate. This shape adaptation and bonding to the top surface of the shock-absorbing base plate ensures that deformation of the base plate is uniformly transmitted to the sensor, improving sensitivity and response speed. The sensor is located above the base plate, avoiding direct wear, enhancing durability, and allowing for automatic centering without the need for a positioning structure.

[0011] Furthermore, the robot shoe body has a wire hole, through which the cable of the liquid metal sensor passes and is electrically connected to the control chip. The liquid metal sensor is used to collect robot walking data, optimize gait algorithms, and enable steady movement on various terrains. The wire hole conceals the cable within the shoe body, preventing it from being exposed, hooked, bent, or worn, thus improving electrical safety and durability; it also shortens the signal transmission path, suppresses attenuation and interference, ensures real-time and accurate data, and provides high-quality input for gait optimization.

[0012] Furthermore, the robot's foot sensing module serves as the robot's shoe, worn on the robot's feet. This shoe-like modular design allows for quick adaptation to different foot sizes, enhancing versatility and interchangeability; in case of malfunction, the foot can be replaced and maintained without disassembling the main body, significantly reducing after-sales costs and downtime.

[0013] A humanoid robot includes a torso, legs, hands, and a head. The legs include feet and a foot-sensing module, which is worn on the feet.

[0014] Compared with the prior art, the present invention uses a liquid metal pressure sensor with the liquid metal circuit and the flexible support substrate integrated into a sheet structure, which eliminates the process of aligning the robot foot sensor with the groove and reduces the risk of damage caused by contact when the sensor is installed in the groove, thus making the detection more reliable, and the structure is simpler and the thickness is also lower.

[0015] Furthermore, the humanoid robot includes a control chip. The liquid metal pressure sensor of the robot's foot sensing module is electrically connected to the control chip, used to collect real-time feedback of robot walking data, optimize gait algorithms, and achieve steady movement on various terrains. A closed-loop link from foot perception to the control chip is constructed, enabling millisecond-level dynamic adjustment of joint drive and posture to adapt instantly to complex terrain. Real-time feedback provides high-dimensional data for the reinforcement learning gait algorithm, driving motion control to evolve from preset to intelligent autonomous control.

[0016] A method for controlling a humanoid robot includes the following steps: The humanoid robot uses its feet to move forward, and the liquid metal sensors in the robot's foot sensing module provide feedback on the stress on the robot's shoes. Based on real-time feedback from the liquid metal sensor, the control chip optimizes the gait algorithm to enable steady movement across various terrains.

[0017] Compared with existing technologies, the present invention utilizes real-time feedback from liquid metal sensors to achieve ultimate motion stability in humanoid robots.

[0018] Furthermore, the humanoid robot also includes a visual sensor, which provides real-time feedback on road conditions and, combined with the pressure from the liquid metal sensor, adjusts the robot's gait. By integrating visual prediction and foot tactile feedback, the robot plans the optimal landing point before touching the ground and corrects posture deviations immediately after contact. This multimodal collaboration effectively prevents instability caused by blind spots or sudden changes in ground conditions, significantly improving walking safety and autonomy in unstructured environments. Attached Figure Description

[0019] Figure 1 This is a perspective view of a robot foot sensing module according to an embodiment of the present invention; Figure 2 Is it like this? Figure 1 Another perspective 3D view of the robot's foot sensing module; Figure 3 This is a perspective view of a humanoid robot according to an embodiment of the present invention.

[0020] Figure label: 10-Robot foot sensing module; 11-Robot shoe body; 12-Liquid metal pressure sensor; 13-Shock-absorbing sole plate; 100-Humanoid robot; 111-Main body; 112-Shoe sole; 121-Flexible load-bearing base; 20 - Main body of the torso; 30 - Legs; 31 - Feet; 40 - Hands; 50 - Head. Detailed Implementation

[0021] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0022] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms “a,” “the,” and “the” used in this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0023] It should be understood that the terms "first," "second," and similar terms used in this specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, "a" or "one," and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one; "a plurality of" indicates two or more. Unless otherwise stated, terms such as "front," "rear," "lower," and / or "upper" are for ease of description only and are not limited to a location or spatial orientation. Terms such as "comprising" or "including" indicate that the elements or objects preceding "comprising" encompass the elements or objects listed following "comprising" or "including" and their equivalents, but do not exclude other elements or objects.

[0024] The exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Unless otherwise specified, the features of the following embodiments and implementations may complement or combine with each other.

[0025] like Figures 1 to 3 As shown, a robotic foot sensing module 10 includes a robotic shoe body 11, a liquid metal pressure sensor 12, and a shock-absorbing sole 13. The robotic shoe body 11 includes a main body 111 and a sole 112, with the sole 112 connected to the main body 111. In the height direction of the robotic foot sensing module 10, the sole 112 is located below the main body 111. The liquid metal pressure sensor 12 includes a flexible support substrate 121 and liquid metal circuitry printed on the flexible support substrate 121, with the liquid metal circuitry and the flexible support substrate 121 forming an integral sheet structure. The liquid metal pressure sensor 12 is clamped between the shock-absorbing sole 13 and the sole 112.

[0026] Compared with the prior art, the present invention adopts a liquid metal pressure sensor 12 with the liquid metal circuit and the flexible support substrate 121 as an integral sheet structure, which eliminates the process of aligning the sensor of the robot foot 31 with the groove and reduces the risk of damage caused by contact when the sensor is installed in the groove. The structure is simpler and the thickness is also lower.

[0027] The shock-absorbing sole 13 uses a light yellow shock-absorbing rubber sole, the shoe sole 112 uses a black sole, and the main body 111 uses a white main body 111. The difference between the white, light yellow, and black colors plays a role in error-proofing during assembly, avoiding incorrect assembly sequence; the high contrast facilitates the robot's vision system to recognize the posture of the foot 31, assisting in gait pre-planning; the black sole is wear-resistant and dirt-resistant, the light yellow rubber facilitates visual inspection of aging, and the white main body reflects heat. The three colors work together to improve assembly efficiency, visual assistance, and long-term maintenance convenience. The robot shoe body 11 can be made of plastic material. Plastic shoe bodies are lightweight, insulating, easy to injection mold, and highly weather-resistant. This reduces the inertia of the foot 31 and the joint load, and allows for one-piece molding of structures such as wire holes to simplify assembly. At the same time, it isolates electrical interference and resists environmental corrosion, comprehensively improving the overall energy efficiency, assembly efficiency, and long-term reliability of the robot.

[0028] The liquid metal sensor is formed using a PVC film printing process, and the flexible support substrate 121 is in the form of a thin film. In the height direction of the robot's foot sensing module 10, the thickness of the liquid metal pressure sensor 12 is less than the thickness of the shock-absorbing base plate 13. The film printing process makes the sensor ultra-thin and flexible, reducing the height of the foot module 31 to facilitate the stability of the overall center of gravity. The sensor thickness is less than that of the shock-absorbing base plate 13, ensuring that the shock-absorbing layer preferentially absorbs energy and buffers, effectively protecting the sensor from impact damage.

[0029] The planar shape of the liquid metal pressure sensor 12 is the same as that of the shoe sole 112. The liquid metal pressure sensor 12 is bonded to the bottom surface of the shoe sole 112, and its shape is adapted to the shoe sole 112. This identical shape and bonding to the bottom surface of the shoe sole 112 achieves full-area stress coverage, eliminating detection blind spots. Surface bonding replaces recessed embedding, simplifying assembly and ensuring a firm connection, guaranteeing signal consistency and reliability under long-term foot traffic.

[0030] The liquid metal pressure sensor 12 has the same planar shape as the shock-absorbing base plate 13. The liquid metal pressure sensor 12 is bonded to the top surface of the shock-absorbing base plate 13, and its shape is adapted to the shock-absorbing base plate 13. This shape adaptation and bonding to the top surface of the shock-absorbing base plate 13 ensures that deformation of the base plate is uniformly transmitted to the sensor, improving sensitivity and response speed. The sensor is located above the base plate, avoiding direct wear, enhancing durability, and allowing for automatic centering without the need for a positioning structure.

[0031] The robot shoe body 11 has a wire hole through which the cable of the liquid metal sensor passes and is electrically connected to the control chip. The liquid metal sensor is used to collect robot walking data, optimize gait algorithms, and enable steady movement on various terrains. The wire hole conceals the cable within the shoe body, preventing it from being exposed, hooked, bent, or worn, thus improving electrical safety and durability; it also shortens the signal transmission path, suppresses attenuation and interference, ensures real-time and accurate data, and provides high-quality input for gait optimization.

[0032] The robot foot sensor module 10 is the robot's shoe, worn on the robot's foot 31. The shoe-like modular design allows for quick adaptation to different foot 31 models, improving versatility and interchangeability; in case of failure, the foot 31 can be replaced and maintained without disassembling the main body, significantly reducing after-sales costs and downtime.

[0033] like Figure 3 As shown, a humanoid robot 100 includes a torso 20, legs 30, hands 40 and head 50. The legs 30 include feet 31 and the aforementioned robot foot sensing module 10. The robot foot sensing module 31 is worn on the feet 31.

[0034] Compared with the prior art, the present invention adopts a liquid metal pressure sensor 12 with the liquid metal circuit and the flexible support substrate 121 as an integral sheet structure, which eliminates the process of aligning the sensor of the robot foot 31 with the groove and reduces the risk of damage caused by contact when the sensor is installed in the groove. The structure is simpler and the thickness is also lower.

[0035] The humanoid robot 100 includes a control chip. The liquid metal pressure sensor 12 of the robot's foot sensing module 10 is electrically connected to the control chip, used to collect real-time feedback of the robot's walking data, optimize the gait algorithm, and achieve steady movement on various terrains. A closed-loop link from foot perception to the control chip is constructed, enabling millisecond-level dynamic adjustment of joint drive and posture to adapt to complex terrain instantly. Real-time feedback provides high-dimensional data for the reinforcement learning gait algorithm, driving motion control to evolve from preset to intelligent autonomous control.

[0036] A control method for a humanoid robot 100 includes the following steps: The humanoid robot 100 uses its feet 31 to move forward, and the liquid metal sensor of the robot foot sensing module 10 provides feedback on the stress of the robot's shoe body 11. Based on real-time feedback from the liquid metal sensor, the control chip optimizes the gait algorithm to enable steady movement across various terrains.

[0037] Compared with the prior art, the present invention uses a liquid metal sensor to provide real-time feedback to achieve extreme motion stability of the humanoid robot 100.

[0038] The humanoid robot 100 also includes a visual sensor. The visual sensor provides real-time feedback on the road surface conditions, which, combined with the pressure from the liquid metal sensor, adjusts the robot's gait. By integrating visual prediction and foot tactile feedback, the robot plans the optimal landing point before touching the ground and corrects posture deviations immediately after landing. This multimodal collaboration effectively prevents instability caused by blind spots or sudden changes in the ground, significantly improving walking safety and autonomy in unstructured environments.

[0039] This invention is not limited to the specific embodiments described above. Any modifications made by those skilled in the art based on the above concept without creative effort are within the scope of protection of this invention.

Claims

1. A robot foot sensing module, characterized in that, include: The robot shoe body (11), liquid metal pressure sensor (12), and shock-absorbing sole plate (13) are provided. The robot shoe body (11) includes a main body (111) and a sole (112), and the sole (112) is connected to the main body (111). In the height direction of the robot foot sensing module, the sole (112) is located below the main body (111). The liquid metal pressure sensor (12) includes a flexible support substrate (121) and liquid metal lines printed on the flexible support substrate (121). The liquid metal lines and the flexible support substrate (121) are in an integral sheet structure. The liquid metal pressure sensor (12) is clamped between the shock-absorbing sole plate (13) and the sole (112).

2. The robot foot sensing module as described in claim 1, characterized in that: The liquid metal pressure sensor (12) is formed by PVC film printing process, and the flexible bearing substrate (121) is in the form of a thin film; in the height direction of the robot foot sensing module (10), the thickness of the liquid metal pressure sensor (12) is less than the thickness of the shock-absorbing base plate (13).

3. The robot foot sensing module as described in claim 1, characterized in that: The planar shape of the liquid metal pressure sensor (12) is the same as that of the shoe sole (112). The liquid metal pressure sensor (12) is bonded to the bottom surface of the shoe sole (112). The shape of the liquid metal pressure sensor (12) is adapted to the shoe sole (112).

4. The robot foot sensing module as described in claim 1, characterized in that: The planar shape of the liquid metal pressure sensor (12) is the same as that of the shock-absorbing base plate (13). The liquid metal pressure sensor (12) is bonded to the top surface of the shock-absorbing base plate (13). The shape of the liquid metal pressure sensor (12) is adapted to the shock-absorbing base plate (13).

5. The robot foot sensing module as described in claim 1, characterized in that: The robot shoe body (11) has a wire hole, the cable of the liquid metal sensor is inserted into the wire hole and electrically connected to the control chip. The liquid metal sensor is used to collect robot walking data, optimize gait algorithm, and achieve steady movement on various terrains.

6. The robot foot sensing module as described in claim 1, characterized in that: The robot foot sensing module (10) is the robot's shoe, used to be worn on the robot's foot (31).

7. A humanoid robot, characterized in that, It includes a torso (20), legs (30), hands (40) and head (50), wherein the legs (30) include feet (31) and a robot foot sensing module (10) as described in any one of claims 1 to 6, wherein the robot foot sensing module (10) is worn on the feet (31).

8. The humanoid robot as described in claim 7, characterized in that: The humanoid robot (100) includes a control chip. The liquid metal pressure sensor (12) of the robot foot sensing module (10) is electrically connected to the control chip to collect robot walking data in real time, optimize gait algorithms, and enable steady movement on various terrains.

9. A control method for a humanoid robot as described in any one of claims 7 to 8, comprising the following steps: The humanoid robot (100) uses its feet (31) to move forward, and the liquid metal sensor of the robot foot sensing module (10) provides feedback on the stress of the robot's shoe body (11); Based on real-time feedback from the liquid metal sensor, the control chip optimizes the gait algorithm to enable steady movement across various terrains.

10. The control method for a humanoid robot as described in claim 9, characterized in that: The humanoid robot (100) also includes a vision sensor, which provides real-time feedback on the road surface conditions and, in conjunction with the pressure from the liquid metal sensor, adjusts the steps of the humanoid robot (100).

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