Humanoid robot and sole structure of humanoid robot

Abstract

The utility model belongs to the technical field of robot equipment, and particularly relates to a humanoid robot and a sole structure of the humanoid robot. The sole structure comprises a rigid connecting piece which comprises a main body plate piece and a connecting part, the connecting part is arranged on the main body plate piece, and the connecting part is used for being connected with the ankle connecting end of the humanoid robot; the first layer plate is fixedly connected with the main body plate, the end part of the first layer plate exceeds the end part of the rigid connecting piece in the first direction, and the part, exceeding the end part of the rigid connecting piece, of the first layer plate can be bent and deformed in the rotating direction; the second layer plate is connected to the side, away from the rigid connecting piece, of the first layer plate, the second layer plate is a part made of a flexible material, the contour shape of the projection of the second layer plate is consistent with the contour shape of the projection of the first layer plate in the second direction, and the projection of the first layer plate is located in the projection of the second layer plate. By applying the technical scheme, the problem that the sole structure of the current humanoid robot does not have the characteristic that the front sole can be bent and deformed is solved.

Description

Technical Field

[0001] The present application belongs to the technical field of robotic equipment, and in particular relates to a humanoid robot and a foot structure thereof. Background Art

[0002] With the continuous development of robotics technology, humanoid robots with structural components that simulate human body parts are an inevitable trend in market development. Humanoid robots are commonly known as humanoid robots.

[0003] In current humanoid robots, the sole structure of the foot often uses an alloy skeleton for support, with rubber or polyurethane used at the bottom to provide some cushioning and shock absorption. However, current alloy-frame sole structures lack the flexural deformability of the forefoot like a human foot. Therefore, during walking, the sole structure cannot rely on flexion and deformation of the forefoot to achieve rapid strides, as does a human foot. Utility Model Content

[0004] The purpose of the present application is to provide a humanoid robot and a foot structure thereof, aiming to solve the problem that the current foot structure of the humanoid robot does not have the bendable and deformable property of the forefoot.

[0005] To achieve the above-mentioned purpose, according to the first aspect of the present application, the technical solution adopted in the present application is: a sole structure comprising:

[0006] A rigid connector, comprising a main body panel and a connecting portion, wherein the connecting portion is provided on the main body panel and is used to connect to the ankle connecting end of the humanoid robot;

[0007] The first layer is fixedly connected to the main plate, and an end of the first layer extends beyond an end of the rigid connector along a first direction, and a portion of the first layer extending beyond the end of the rigid connector is bendable and deformable along a rotation direction;

[0008] The second layer of board is connected to the side of the first layer of board facing away from the rigid connector. The second layer of board is a component made of flexible material. Along the second direction, the outline shape of the projection of the second layer of board is consistent with the outline shape of the projection of the first layer of board, and the projection of the first layer of board is located within the projection of the second layer of board.

[0009] In some embodiments of the present application, along the second direction, the projection of the first layer board coincides with the projection of the second layer board.

[0010] In some embodiments of the present application, along the first direction, a length of a portion of the first layer extending beyond an end portion of the rigid connector is L, and 20 mm ≤ L ≤ 80 mm.

[0011] In some embodiments of the present application, the main body panel and the first layer panel are stacked, and the main body panel and the first layer panel are locked by a plurality of connecting components; or, the main body panel is embedded in the first layer panel.

[0012] In some embodiments of the present application, the connecting portion is arranged to protrude relative to the main body panel in a direction away from the second layer panel.

[0013] In some embodiments of the present application, the first layer is a component made of carbon fiber material.

[0014] In some embodiments of the present application, the first layer plate has a curved portion protruding toward the rigid connector, the curved portion is directly opposite to the rigid connector, and the rigid connector has an accommodating space for accommodating the curved portion.

[0015] In some embodiments of the present application, the sole structure also includes a transfer device, which is fixedly connected to the rigid connector, and the first layer of plate is connected to the transfer device. When the bending portion is subjected to a force in the direction from the rigid connector to the first layer of plate, the first layer of plate slides relative to the rigid connector through the transfer device.

[0016] In some embodiments of the present application, a side of the second layer facing away from the first layer is provided with anti-slip grooves.

[0017] According to a second aspect of the present application, a humanoid robot is provided, wherein the humanoid robot includes the aforementioned foot structure.

[0018] This application has at least the following beneficial effects:

[0019] The foot structure provided in the embodiments of the present application is assembled into the foot of a humanoid robot. The foot structure is movably connected to the ankle connection end of the humanoid robot via the connection portion of the rigid connector, thereby enabling the humanoid robot to perform human-like movements such as stepping in place, walking, and running. The first layer, as the core main component of the foot structure, defines the basic circumferential contour of the foot structure and provides a framework support for the entire foot structure. The end of the first layer extends beyond the end of the rigid connector. The portion of the first layer that extends beyond the end of the rigid connector can bend and deform along the rotation direction ω when the humanoid robot performs stepping in place, walking, running, etc. Compared with current humanoid robots, the humanoid robot provided in the embodiments of the present application can move more naturally and flexibly, and the humanoid robot as a whole is more balanced and stable. Furthermore, the second layer is connected to the side of the first layer facing away from the rigid connector, that is, the second layer is the component that contacts the ground. Since the second layer is made of flexible material, it can bend and deform synchronously with the bending and deformation of the first layer. Moreover, the flexible second layer can adapt to uneven ground to a certain extent (such as ground with small potholes, small protruding stones on the ground, etc.), thereby improving the sole structure to contact the ground more stably, which is beneficial to improving the overall balance and stability performance of the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1 This is a schematic diagram of the assembly structure of a sole structure of an embodiment of the present application Figure 1 ;

[0022] Figure 2 for Figure 1 An exploded schematic diagram of the sole structure is shown;

[0023] Figure 3 for Figure 1 The assembly structure of the sole structure is shown Figure 2 ;

[0024] Figure 4 for Figure 3 An exploded schematic diagram of the sole structure is shown;

[0025] Figure 5 for Figure 1 A schematic front view of the sole structure shown;

[0026] Figure 6 for Figure 5 Schematic cross-sectional view in the AA direction;

[0027] Figure 7 A schematic cross-sectional view of another sole structure according to an embodiment of the present application;

[0028] Figure 8 A schematic cross-sectional view of another sole structure according to an embodiment of the present application;

[0029] Figure 9 This is a schematic diagram of the assembly structure of the humanoid robot according to an embodiment of the present application.

[0030] Among them, the reference numerals in the figures are:

[0031] 100. Foot structure;

[0032] 10. Rigid connector; 11. Main body panel; 12. Connecting portion; 13. Accommodating space;

[0033] 20. First layer; 21. Forefoot area; 22. Bend;

[0034] 30. Second layer; 31. Anti-slip pattern;

[0035] 40. Adapter;

[0036] 200. Humanoid robot; 201. Ankle connection end. DETAILED DESCRIPTION

[0037] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0038] In the description of this application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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 operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0039] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified with "first," "second," etc., may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0040] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on specific circumstances.

[0041] Explanation:

[0042] First direction X: Figure 1 As shown, in the space rectangular coordinate system XYZ, the first direction X is a direction parallel to the X-axis, that is, in space, any direction parallel to the X-axis is the first direction X.

[0043] Second direction Z: Figure 1 As shown, in the spatial rectangular coordinate system XYZ, the second direction Z is a direction parallel to the Z axis, that is, in space, any direction parallel to the Z axis is the second direction Z.

[0044] The third direction Y: Figure 1 As shown, in the spatial rectangular coordinate system XYZ, the direction parallel to the Y axis is the third direction Y.

[0045] Rotation direction ω: Figure 1 As shown, in the spatial rectangular coordinate system XYZ, the rotation direction with one of the axes parallel to the Y axis as the rotation center axis is the rotation direction ω.

[0046] According to a first aspect of an embodiment of the present application, a sole structure 100 is provided. Figures 1 to 6As shown, the sole structure 100 includes a rigid connector 10, a first layer 20, and a second layer 30. The rigid connector 10 includes a main plate 11 and a connecting portion 12. The connecting portion 12 is provided on the main plate 11 and is used to connect to the ankle connecting end 201 of the humanoid robot 200. The first layer 20 is fixedly connected to the main plate 11 of the rigid connector 10. Along the first direction X, the end of the first layer 20 extends beyond the end of the rigid connector 10, and the portion of the first layer 20 that extends beyond the end of the rigid connector 10 is bendable and deformable along the rotation direction ω. The second layer 30 is connected to the side of the first layer 20 that faces away from the rigid connector 10. The second layer 30 is made of a flexible material. Along the second direction Z, the outline of the projection of the second layer 30 is consistent with the outline of the projection of the first layer 20, and the projection of the first layer 20 is located within the projection of the second layer 30.

[0047] The foot structure 100 provided in the embodiments of the present application is assembled to form the sole of the foot of a humanoid robot 200. The foot structure 100 is movably connected to the ankle connection end 201 of the humanoid robot 200 via the connection portion 12 of the rigid connector 10, thereby enabling the humanoid robot 200 to perform human-like movements such as stepping in place, walking, and running. The first layer 20, serving as the core component of the foot structure 100, defines the basic circumferential contour of the foot structure 100 and provides a framework for support of the entire foot structure 100. The end of the first layer 20 extends beyond the end of the rigid connector 10. The portion of the first layer 20 that extends beyond the end of the rigid connector 10 forms a forefoot region 21, which is equivalent to the forefoot of a human foot. When the humanoid robot 200 is performing movements such as stepping in place, walking, or running, the forefoot region 21 can bend and deform along the rotational direction ω. Compared to current humanoid robots, this allows the humanoid robot 200 provided in the embodiments of the present application to move more naturally and flexibly, and the humanoid robot 200 as a whole is more balanced and stable. Furthermore, the second layer 30 is connected to the side of the first layer 20 that faces away from the rigid connector 10. In other words, the second layer 30 is the component that contacts the ground. Since the second layer plate 30 is made of flexible material, the second layer plate 30 can bend and deform synchronously with the bending and deformation of the first layer plate 20. Moreover, the flexible second layer plate 30 can adapt to and fit uneven ground to a certain extent (for example, ground with small potholes, small protruding stones on the ground, etc.), thereby improving the sole structure 100 to contact the ground more stably, which is beneficial to improving the overall balance and stability performance of the humanoid robot 200.

[0048] And, as Figure 3 and Figure 4As shown, the second layer 30 has anti-skid grooves 31 on the side facing away from the first layer 20. The anti-skid grooves 31 make the sole structure 100 more anti-skid. Even on a relatively smooth ground (such as a tile floor), the sole structure 100 can still conform to the ground smoothly, reducing the possibility of slipping.

[0049] In the embodiment of the present application, the rigid connector 10 is manufactured from a metal material to ensure mechanical properties such as mechanical strength and stiffness of the rigid connector 10. The metal material used for the rigid connector 10 includes, but is not limited to, steel, aluminum alloy, etc. Aluminum alloy is preferably used to manufacture the rigid connector 10 due to its light weight and low cost.

[0050] In the sole structure 100 of the embodiment of the present application, the projection of the first layer plate 20 coincides with the projection of the second layer plate 30 along the second direction Z. That is, the circumferential profile shape and size of the first layer plate 20 are identical to those of the second layer plate 30. Therefore, the second layer plate 30 can quickly transmit the reaction force exerted on it by the ground to the first layer plate 20. The first layer plate 20 then transmits the force to the ankle connection end 201 of the humanoid robot 200, allowing the humanoid robot 200 to quickly adjust its center of gravity based on the reaction force, thereby ensuring the overall balance and stability of the humanoid robot 200.

[0051] In some other embodiments of the present application, along the second direction Z, the projection of the first layer plate 20 may fall within the projection of the second layer plate 30. That is, although the circumferential contour shape of the first layer plate 20 is the same as the circumferential contour shape of the second layer plate 30, the coverage area of ​​the second layer plate 30 is slightly larger than the coverage area of ​​the first layer plate 20. The circumferential edge area of ​​the second layer plate 30 slightly exceeds the circumferential edge of the first layer plate 20, but not too much. Generally, the width of the circumferential edge area of ​​the second layer plate 30 that exceeds the circumferential edge of the first layer plate 20 is within 5 mm (the excess width is less than or equal to 5 mm). This ensures that the second layer plate 30 can quickly transmit the reaction force it receives from the ground to the first layer plate 20, so that the humanoid robot 200 can quickly adjust the center of gravity of the robot according to the reaction force.

[0052] The foot size of a male adult with a height of 160 cm to 190 cm is used as a reference data, so that the circumferential contour shape and size of the foot structure 100 are closer to the circumferential contour shape and size of the human foot, thereby preventing the foot of the humanoid robot 200 from being too large and achieving a better degree of simulation. Figure 1 、 Figure 5 and Figure 6As shown, along the first direction X, the length of the portion of the first layer 20 that extends beyond the end of the rigid connector 10 is L, and the range is 20mm≤L≤80mm. Such a length of the forefoot region 21 is also closer to the size of the forefoot of a human foot, conforming to the ergonomic simulation design and improving the simulation level of the sole structure 100. Preferably, the range is 30mm≤L≤60mm. Thus, when the forefoot region 21 is bent and deformed relative to the rigid connector 10 during movements such as stepping in place, walking, and running, there is sufficient contact surface between the forefoot region 21 and the ground, making the humanoid robot 200's foot-lifting movements more flexible and stable during such movements. Taking the example of the humanoid robot 200 performing stepping in place, the heel region of the sole structure 100, opposite the forefoot region 21, leaves the ground first. As the heel area gradually lifts, the forefoot area 21 gradually lifts off the ground, until only the forefoot area 21 is in contact with the ground. At this point, the forefoot area 21 is in a bent and deformed state. Because the bent and deformed forefoot area 21 has sufficient contact surface with the ground, the humanoid robot 200 can perform more flexible and stable foot-lifting movements when performing stationary steps, walking, running, and other exercises. Finally, the forefoot area 21 also lifts off the ground, completing the sequence of lifting one foot off the ground during stationary steps.

[0053] In some embodiments of the present application, the main plate 11 of the rigid connector 10 is stacked with the first layer 20, and the sole structure 100 is a multi-layer composite structure. The first layer 20 defines the circumferential basic contour shape of the sole structure 100, and the first layer 20 provides a frame support for the entire sole structure 100. The flexible second layer 30 can adapt to the uneven ground to a certain extent, so as to achieve an ergonomic simulation design of the sole structure 100. In addition, the main plate 11 of the rigid connector 10 and the first layer 20 are locked by a plurality of connecting components (not shown), and the connecting components include but are not limited to bolt and nut pairs, rivets, etc. Figures 1 to 6 As shown, the rigid connector 10 and the first layer 20 are each provided with a plurality of through holes. The plurality of through holes of the rigid connector 10 are arranged in a one-to-one correspondence with the plurality of through holes of the first layer 20, so as to be used for assembling the connecting members in a one-to-one correspondence, thereby locking the rigid connector 10 and the first layer 20 through the plurality of connecting members. In the sole structure 100 provided in the embodiment of the present application, the rigid connector 10 and the first layer 20 are riveted together using a plurality of rivets, so that the connection between the rigid connector 10 and the first layer 20 is stable and reliable.

[0054] like Figures 1 to 6As shown, the connecting portion 12 of the rigid connector 10 protrudes relative to the main plate 11 in a direction away from the second layer 30. The protruding connecting portion 12 relative to the main plate 11 can prevent interference between the ankle connecting end 201 and the sole structure 100, thereby facilitating the connection and assembly between the connecting portion 12 and the ankle connecting end 201 and improving the connection and assembly efficiency.

[0055] In the sole structure 100 provided in the embodiment of the present application, the first layer 20 is a component made of carbon fiber material. The first layer 20 made of carbon fiber material has high mechanical strength (tensile strength and compressive strength), excellent creep resistance, good corrosion resistance and shock resistance, and is lightweight and flexible. The first layer 20 made of carbon fiber material not only meets the rigidity requirements of the core main component of the sole structure 100 and serves to provide a framework support for the entire sole structure 100, but also meets the flexibility requirements of the forefoot region 21 to bend and deform along the rotation direction ω when the humanoid robot 200 is performing stationary steps, walking, running, etc., making the bending deformation of the forefoot region 21 natural and flexible, and making the overall movement of the sole structure 100 more balanced and stable.

[0056] like Figure 8 As shown, the first layer 20 has a curved portion 22 that protrudes toward the rigid connector 10. The curved portion 22 directly faces the rigid connector 10, and the rigid connector 10 has a receiving space 13 for accommodating the curved portion 22. In other words, the curved portion 22 of the first layer 20 forms an arch region that functions similarly to the arch of a human foot. Thus, when the humanoid robot 200 performs exercises such as jumping and running, the curved portion 22 of the first layer 20 provides a certain degree of elastic cushioning, allowing the entire foot structure 100 to land more balanced and stably, thereby improving the overall motion balance and stability of the humanoid robot 200.

[0057] When the humanoid robot 200 performs exercises such as jumping and running, during the landing process of the sole structure 100, the impact force generated by the entire weight of the humanoid robot 200 in the direction from the rigid connector 10 to the first layer 20 is concentrated on the sole structure 100. This impact force squeezes the curved portion 22 of the first layer 20, causing the two ends of the curved portion 22 to extend in opposite directions along the first direction X. In other words, the two ends of the curved portion 22 will produce an extended relative slip relative to the rigid connector 10 along the first direction X. In order to prevent the first layer 20 from causing pulling interference on the curved portion 22 when the curved portion 22 produces an extended relative slip relative to the rigid connector 10, as shown in FIG. Figure 8As shown, the sole structure 100 also includes a transfer device 40, which is fixedly connected to the rigid connector 10, and the first layer 20 is connected to the transfer device 40. When the bending portion 22 is subjected to a force in the direction from the rigid connector 10 to the first layer 20, the first layer 20 slides relative to the rigid connector 10 through the transfer device 40.

[0058] As an example, the adapter 40 may include a frame, a coiled compression spring, and a slider. Taking two coiled compression springs and two sliders as an example, the two sliders are slidably mounted on the frame, the two coiled compression springs are connected to the two sliders in a one-to-one correspondence, and the coiled compression springs are pre-tightened and compressed between the sliders and the inner wall of the frame. Furthermore, the central axis of the coiled compression springs is parallel to the first direction X. The frame is fixedly connected to the rigid connector 10, the slider is fixedly connected to the first layer 20, and the two ends of the curved portion 22 correspond to the two sliders respectively. In this way, when the humanoid robot 200 performs exercises such as jumping and running, the curved portion 22 is squeezed by the impact force during the landing of the sole structure 100, and the two ends of the curved portion 22 will respectively drive the sliders to slide. The sliders further compress the coiled compression springs, thereby achieving an extended relative sliding of the two ends of the curved portion 22 relative to the rigid connector 10 along the first direction X. When the sole structure 100 is completely on the ground and the humanoid robot 200 as a whole gradually tends to be balanced and stable, the slider resets and slides under the elastic force of the spiral compression spring and the elastic action of the bending portion 22 until the bending portion 22 returns to its original bending state.

[0059] In other embodiments of the present application, Figure 7 As shown, the main plate 11 of the rigid connector 10 is embedded in the first layer 20, that is, the rigid connector 10 and the first layer 20 are formed into an integral workpiece. As an example, a dedicated mold is used to place the main plate 11 of the rigid connector 10 into the mold cavity, and then the mold is closed. Then, the molten raw material of the first layer 20 is poured into the mold cavity. The molten raw material cools and solidifies to form the first layer 20, and the first layer 20 covers the main plate 11 of the rigid connector 10, that is, the main plate 11 of the rigid connector 10 is fixedly connected to the first layer 20.

[0060] According to a second aspect of the embodiment of the present application, a humanoid robot 200 is provided, such as Figure 9 The humanoid robot 200 includes the aforementioned foot structure 100 .

[0061] The foot structure 100 provided in the embodiments of the present application is assembled to form the sole of the foot of a humanoid robot 200. The foot structure 100 is movably connected to the ankle connection end 201 of the humanoid robot 200 via the connection portion 12 of the rigid connector 10, thereby enabling the humanoid robot 200 to perform human-like movements such as stepping in place, walking, and running. The first layer 20, serving as the core component of the foot structure 100, defines the basic circumferential contour of the foot structure 100 and provides a framework for support of the entire foot structure 100. The end of the first layer 20 extends beyond the end of the rigid connector 10. The portion of the first layer 20 that extends beyond the end of the rigid connector 10 forms a forefoot region 21, which is equivalent to the forefoot of a human foot. When the humanoid robot 200 is performing movements such as stepping in place, walking, or running, the forefoot region 21 can bend and deform along the rotational direction ω. Compared to current humanoid robots, this allows the humanoid robot 200 provided in the embodiments of the present application to move more naturally and flexibly, and the humanoid robot 200 as a whole is more balanced and stable. Furthermore, the second layer 30 is connected to the side of the first layer 20 that faces away from the rigid connector 10. In other words, the second layer 30 is the component that contacts the ground. Since the second layer plate 30 is made of flexible material, the second layer plate 30 can bend and deform synchronously with the bending and deformation of the first layer plate 20. Moreover, the flexible second layer plate 30 can adapt to and fit uneven ground to a certain extent (for example, ground with small potholes, small protruding stones on the ground, etc.), thereby improving the sole structure 100 to contact the ground more stably, which is beneficial to improving the overall balance and stability performance of the humanoid robot 200.

[0062] In some embodiments, the flexible second layer 30 of the foot structure 100 of the humanoid robot 200 includes reserved locations for mounting sensors, such as pressure sensors, range sensors, and gyroscopes. Furthermore, the sensors are communicatively connected to the control system of the humanoid robot 200 (either via a wired or wireless connection), thereby enabling interactive communication. This allows the humanoid robot 200 to monitor the motion state of the foot structure 100 in real time and adjust the overall motion state of the humanoid robot 200 accordingly, thereby improving the overall balance and stability of the humanoid robot 200.

[0063] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A sole structure, characterized in that: include: a rigid connector, comprising a main body plate and a connecting portion, wherein the connecting portion is provided on the main body plate and is used to connect to the ankle connecting end of the humanoid robot; A first layer plate is fixedly connected to the main body plate, wherein an end portion of the first layer plate extends beyond an end portion of the rigid connector along a first direction, and a portion of the first layer plate extending beyond the end portion of the rigid connector is bendable and deformable along a rotational direction; The second layer of board is connected to the side of the first layer of board facing away from the rigid connector. The second layer of board is a component made of flexible material. Along the second direction, the outline shape of the projection of the second layer of board is consistent with the outline shape of the projection of the first layer of board, and the projection of the first layer of board is located within the projection of the second layer of board.

2. The sole structure according to claim 1, characterized in that: Along the second direction, the projection of the first layer board coincides with the projection of the second layer board.

3. The sole structure according to claim 1, characterized in that: Along the first direction, the length of the portion of the first layer plate that extends beyond the end of the rigid connector is L, and 20 mm ≤ L ≤ 80 mm.

4. The sole structure according to claim 1, characterized in that: The main body panel and the first layer panel are stacked and locked with each other via a plurality of connecting members; Alternatively, the main body panel is embedded in the first layer panel.

5. The sole structure according to claim 1, characterized in that: The connecting portion is protruded relative to the main body panel toward a direction away from the second layer panel.

6. The sole structure according to any one of claims 1 to 5, characterized in that: The first layer is a component made of carbon fiber material.

7. The sole structure according to claim 6, characterized in that: The first layer plate has a bent portion protruding toward the rigid connector, the bent portion is directly opposite to the rigid connector, and the rigid connector has an accommodating space for accommodating the bent portion.

8. The sole structure according to claim 7, characterized in that: The sole structure also includes a transfer device, which is fixedly connected to the rigid connector. The first layer is connected to the transfer device. When the bending portion is subjected to a force in the direction from the rigid connector to the first layer, the first layer slides relative to the rigid connector through the transfer device.

9. The sole structure according to any one of claims 1 to 5, characterized in that: The side of the second layer board facing away from the first layer board is provided with anti-slip grooves.

10. A humanoid robot, characterized in that: The method comprises the sole structure according to any one of claims 1 to 9.

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