Foot structure, mechanical leg and foot type robot

Abstract

The utility model relates to a foot structure, a mechanical leg and a foot type robot, the foot structure comprises a force uniformizing plate, and the middle of the force uniformizing plate is concaved inwards to form a containing part. The foot skeleton is located in the containing part, and a gap is formed between the foot skeleton and the force equalizing plate. The cantilever beam assemblies are arranged in the circumferential direction of the foot framework at intervals; one end of the cantilever beam assembly is connected to the force equalizing plate, and the other end of the cantilever beam assembly is connected to the foot framework. At least one cantilever beam assembly is provided with at least one force detection module. According to the foot bone structure, the force detection modules are arranged on the cantilever beam assembly, external force borne by the foot bottom can be transmitted to the positions of the force detection modules, the sensing accuracy of the force detection modules is improved, the structural difficulty is simplified, the integration level and the space utilization rate of the foot structure are improved, and the structural size and weight are reduced.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to a foot structure, a mechanical leg, and a footed robot. Background Technology

[0002] Legged robots detect motion status and foot force to provide necessary reference information for subsequent motion control. While typical legged robots often have force sensors installed in their feet, these sensors generally suffer from problems such as complex structure, low space utilization, large size, heavy weight, high cost, and low integration. Utility Model Content

[0003] This disclosure proposes a foot structure, a mechanical leg, and a footed robot to address at least some of the problems in the related art.

[0004] In a first aspect, embodiments of this disclosure provide a foot structure, including:

[0005] A force equalizing plate, wherein a receiving portion is formed by an inwardly recessed middle portion;

[0006] The foot skeleton is located within the receiving portion and has a gap between it and the force equalizing plate;

[0007] Multiple cantilever beam assemblies are arranged at circumferential intervals along the foot skeleton; one end of each cantilever beam assembly is connected to the force equalizing plate, and the other end is connected to the foot skeleton.

[0008] Multiple force detection modules, at least one of the cantilever beam assemblies is provided with at least one of the force detection modules.

[0009] Optionally, the cantilever beam assembly includes:

[0010] A force transmission plate, one end of which is connected to the top surface of the force equalization plate, and the other end of which is connected to the top surface of the foot skeleton; the force detection module is disposed on the force transmission plate;

[0011] At least one first connector passes through the force transmission plate and is connected to the force equalization plate;

[0012] At least one second connector passes through the force transmission plate and is connected to the foot skeleton.

[0013] Optionally, there are multiple first connectors and multiple second connectors, and the multiple first connectors and multiple second connectors are arranged at intervals along the circumference of the force transmission plate.

[0014] Optionally, there are two of each of the first and second connectors, with the two first connectors and the two second connectors distributed at the four corners of the force transmission plate.

[0015] Optionally, the force transmission plate includes an elastic metal element; and / or

[0016] The force detection module is located in the middle of the force transmission plate.

[0017] Optionally, there are four cantilever beam assemblies, distributed at the four corners of the foot skeleton.

[0018] Optionally, the top surfaces at both ends of the force equalizing plate protrude upwards to form protrusions, and the two protrusions and the force equalizing plate enclose each other to form the receiving portion.

[0019] Optionally, the force detection module is located at the position of maximum strain of the cantilever beam assembly; and / or

[0020] The force detection module includes a stress plate.

[0021] Optionally, a first gap is formed between the sidewall of the foot skeleton and the inner sidewall of the receiving part, and a second gap is formed between the bottom wall of the foot skeleton and the bottom wall of the receiving part.

[0022] Optionally, the force-equalizing plate is a one-piece molded structure, comprising a forefoot corresponding to the front end of the foot skeleton, a hindfoot corresponding to the rear end of the foot skeleton, and an arch connecting the forefoot and the hindfoot, wherein the forefoot, the hindfoot, and the arch are integrally molded; or

[0023] The force plate includes a forefoot and a rearfoot, which are separately arranged. The forefoot corresponds to the front end of the foot skeleton and is connected to the foot skeleton, while the rearfoot corresponds to the rear end of the foot skeleton and is connected to the foot skeleton.

[0024] Optionally, a hollow section is formed in the middle of the arch of the foot, and a reinforcing rib is provided inside the hollow section.

[0025] Optionally, it also includes a rubber pad disposed on the side of the force equalizing plate opposite to the foot skeleton.

[0026] Optionally, the force-equalizing plate is a one-piece molded structure, comprising a forefoot corresponding to the front end of the foot frame, a hindfoot corresponding to the rear end of the foot frame, and an arch connecting the forefoot and the hindfoot, wherein the forefoot, the hindfoot, and the arch are integrally molded; both the forefoot and the hindfoot are provided with the rubber pad; or

[0027] The force-equalizing plate includes a forefoot and a rearfoot that are separately arranged. The forefoot corresponds to the front end of the foot frame and is connected to the foot frame, while the rearfoot corresponds to the rear end of the foot frame and is connected to the foot frame. Both the forefoot and the rearfoot are provided with the rubber pad.

[0028] Secondly, embodiments of this disclosure provide a mechanical leg, including a leg structure and a foot structure as described in the first aspect, the foot structure being connected to the leg structure.

[0029] Thirdly, embodiments of this disclosure provide a legged robot, including at least one mechanical leg as described in the second aspect.

[0030] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0031] The foot structure disclosed herein, specifically the foot bone structure, incorporates force detection modules within a cantilever beam assembly. External forces acting on the sole of the foot can be transmitted to the positions of each force detection module, thereby improving the sensing accuracy of the force detection modules. This simplifies the structural complexity, enhances the integration and space utilization of the foot structure, and reduces the structural volume and weight.

[0032] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0033] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0034] Figure 1 This is a three-dimensional schematic diagram of a foot structure according to an exemplary embodiment of the present disclosure.

[0035] Figure 2 yes Figure 1 The front view.

[0036] Figure 3 yes Figure 2 Enlarged diagram of point A in the middle. Detailed Implementation

[0037] To better understand the technical solutions of this disclosure, the foot structure, mechanical leg, and footed robot of this disclosure will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the features in the following embodiments and implementations can be combined with each other.

[0038] See Figures 1 to 3 As shown in the figure, this disclosure proposes a foot structure applicable to bipedal robots or other types of legged robots, used to detect the force on the robot's foot. The foot structure may include: a force-equalizing plate 10, a foot frame 20, multiple cantilever beam assemblies 50, and multiple force detection modules 30.

[0039] The force-equalizing plate 10 has a recessed receiving portion 12 in its center. The foot frame 20 is located within the receiving portion 12 and has a gap 11 between it and the force-equalizing plate 10. Multiple cantilever beam assemblies 50 are arranged circumferentially at intervals along the foot frame 20. One end of each cantilever beam assembly 50 is connected to the force-equalizing plate 10, and the other end is connected to the foot frame 20. At least one cantilever beam assembly 50 is provided with at least one force detection module 30. Optionally, in this embodiment, the number of force detection modules 30 may correspond to the number of cantilever beam assemblies 50, and they may be arranged one-to-one among the multiple cantilever beam assemblies 50. It is understood that each cantilever beam assembly 50 may be provided with one or more force detection modules 30, or may not be provided with any force detection module. Furthermore, the number of force detection modules 30 provided on each cantilever beam assembly 50 may be the same or different, and this disclosure does not impose any restrictions on this.

[0040] As can be seen from the above technical solution, the foot structure disclosed herein places the force detection module in the cantilever beam assembly. When the sole of the foot is subjected to an external force, the cantilever beam assembly can detect the deformation. At the same time, the external force on the sole of the foot can be transmitted to the positions of each force detection module. That is, the external force on the sole of the foot can be transmitted to the positions of each force detection module through the cantilever beam assembly. The force detection module detects the strain at the cantilever beam assembly, and then obtains the force at the cantilever beam assembly through calibration and algorithm, thereby obtaining the force situation of the sole of the foot, so as to improve the sensing accuracy of the force detection module. This simplifies the structural complexity, improves the integration and space utilization of the foot structure, and reduces the structural volume and weight.

[0041] In some alternative embodiments, the top surfaces of both ends of the force equalizing plate 10 protrude upwards to form protrusions 121, and the two protrusions 121 and the body of the force equalizing plate 10 together form the receiving portion 12. Thus, the foot frame 20 is housed within the receiving portion 12, positioned between the two protrusions 121, with the top surface of the foot frame 20 and the top surfaces of the two protrusions 121 facing the same direction, facilitating the installation of the cantilever beam assembly 50.

[0042] Furthermore, a first gap 111 is formed between the sidewall of the foot frame 20 and the inner sidewall of the receiving portion 12, and a second gap 112 is formed between the bottom wall of the foot frame 20 and the bottom wall of the receiving portion 12. Thus, the first gap 111 and the second gap 112 provide space for the cantilever beam assembly 50 to deform. When the cantilever beam assembly is subjected to external force, it can deform in both vertical and horizontal directions, improving the accuracy of force detection.

[0043] Understandably, the inner wall of the receiving portion 12 includes the inner walls of two protrusions 121 and the bottom wall of the force equalizing plate 10. A first gap 111 is formed between one side wall of the foot frame 20 and one of the protrusions 121, and another first gap 111 is formed between the other side wall of the foot frame 20 and another protrusion 121. A second gap 112 is formed between the bottom wall of the foot frame 20 and the bottom wall of the force equalizing plate 10. One or more cantilever beam assemblies 50 can be provided in the same gap direction of the first gap 111, and this disclosure does not limit this.

[0044] In some optional embodiments, there are four cantilever beam assemblies 50, distributed at the four corners of the foot frame 20. In the example shown in the figure, the left end of the foot frame 20 along the length direction X can refer to the rear end, and the right end of the foot frame 20 along the length direction X can refer to the front end. A cantilever beam assembly 50 and a force detection module 30 are respectively set at the four corners to ensure that the force conditions at the front and rear ends of the entire foot structure can be detected, improving the accuracy of the detection.

[0045] Thus, by using the resultant force measured by the four force detection modules 30 located at the four corners to represent the stress on the sole of the entire foot structure, the accuracy of the detection can be improved. It should be noted that the number and distribution of the cantilever beam assemblies 50 can be set according to actual conditions, and this disclosure does not impose any restrictions on this.

[0046] Furthermore, the force detection module 30 is disposed on the side of the cantilever beam assembly 50 away from the foot frame 20. In this embodiment, the cantilever beam assembly 50 is disposed on the top surface of the foot frame 20, and the force detection module 30 is disposed on the top surface of the cantilever beam assembly 50. This does not occupy space on the sole of the foot and does not affect the accuracy of the detection. Optionally, the top surface of the foot frame 20 is flush with the top surfaces of the two protrusions 121, and the cantilever beam assembly 50 is disposed on the top surface of the foot frame 20. In this way, both ends of the cantilever beam assembly 50 are flush, allowing for uniform deformation under force, thus improving the accuracy of force detection.

[0047] In some alternative embodiments, the cantilever beam assembly 50 includes: a force transmission plate 51, at least one first connector 52, and at least one second connector 53.

[0048] One end of the force transmission plate 51 is connected to the top surface of the force equalization plate 10 (i.e., the top surface of the protrusion 121 on the adjacent side), and the other end is connected to the top surface of the foot frame 20. The force detection module 30 is disposed on the force transmission plate 51. The first connector 52 passes through the force transmission plate 51 and connects to the force equalization plate 10. The second connector 53 passes through the force transmission plate 51 and connects to the foot frame 20. In this way, the cantilever beam assembly 50, the force equalization plate 10, and the foot frame 20 are installed. The force detection module 30 is disposed in the middle of the force transmission plate 51, which can improve the accuracy of force detection.

[0049] Optionally, there are multiple first connectors 52 and multiple second connectors 53, which are arranged at intervals along the circumference of the force transmission plate 51. By increasing the number of first and second connectors, the connection strength between the force transmission plate 51, the force equalizing plate 10, and the foot frame 20 can be improved. Optionally, both the first and second connectors may include screws or other structural components capable of connection and fixation; this disclosure does not limit this. It should be noted that the number of first and second connectors can be one or more, depending on actual needs; this disclosure does not limit this.

[0050] In this embodiment, there are two of each of the first connector 52 and the second connector 53. The two first connectors 52 and the two second connectors 53 are distributed at the four corners of the force transmission plate 51, which can improve the connection strength between the force transmission plate 51, the force equalization plate 10 and the foot frame 20.

[0051] In some alternative embodiments, the force transmission plate 51 includes an elastic metal component, such as a highly elastic metal, which has good deformation capacity, thereby improving the service life of the cantilever beam assembly. It is understood that using a highly elastic metal as the cantilever beam—for example, using spring steel, a material with yield strength characteristics superior to ordinary aluminum alloys—is used to ensure that no plastic deformation occurs under large impact loads on the foot, while also considering the weight of the entire foot module. This material can be used only in the parts where deformation is required.

[0052] Understandably, the material of the force transmission plate 51 can determine the strain capacity of the cantilever beam assembly 50. The external force on the sole of the foot can be transmitted to the position of each force detection module 30 through the force transmission plate 51. The force detection module 30 and the force transmission plate 51 are in close contact and deform synchronously. Thus, by detecting the strain of the force detection module 30, the strain of the cantilever beam assembly 50 can be reflected and obtained, thereby obtaining the stress situation of the entire foot structure. Optionally, the force detection module 30 may include a stress sheet or other form of force sensor. The stress sheet can be understood as a small-sized FPC (flexible printed circuit board) with crisscrossing copper wires arranged therein. The stress sheet and the cantilever beam assembly 50 are in close contact. When the foot structure is subjected to external force, the cantilever beam assembly 50 and the stress sheet can deform synchronously. The copper wires of the stress sheet are stretched and squeezed by the external force, causing a change in voltage resistance. By detecting the change in this voltage value, it can be understood that the stress condition at the cantilever beam assembly can be obtained through calibration and algorithm detection and calculation. This reflects and obtains the degree of deformation of the cantilever beam assembly, thereby obtaining the stress condition of the entire foot structure on the sole of the foot.

[0053] In some optional embodiments, the force detection module 30 is located at the cantilever beam assembly 50, i.e., at the position of maximum strain of the force transmission plate 51. In this way, the force transmission plate 51 can achieve a greater degree of deformation, thereby enabling the detection of a wider range of forces acting on the sole of the foot and improving detection performance.

[0054] In some optional embodiments, the force-equalizing plate 10 is a one-piece molded structure. The force-equalizing plate 10 includes a forefoot 13 corresponding to the front end (i.e., the right end region of the foot frame 20), a rearfoot 14 corresponding to the rear end (i.e., the left end region of the foot frame 20), and an arch 15 connecting the forefoot 13 and the rearfoot 14. The arch 15 corresponds to the middle region of the foot frame 20 and can increase the adaptability of the foot to different ground surfaces. The forefoot 13, the rearfoot 14, and the arch 15 are integrally molded.

[0055] Alternatively, in some other embodiments, the force-equalizing plate 10 includes a separate forefoot 13 and a rearfoot 14, with the forefoot 13 corresponding to the front end of the foot frame 20 and connected to it, and the rearfoot 14 corresponding to the rear end of the foot frame 20 and connected to it. That is, the force-equalizing plate adopts a separate structural form.

[0056] Regardless of the structural form of the force equalizing plate, it can ensure that the external force on the sole of the foot can be transmitted through the force equalizing plate 10 to the position of each force detection module 30, and that the force on the foot can be transmitted to the four cantilever beam components 50.

[0057] Understandably, the force-equalizing plate adopts a split structure, with the forefoot and heel separated. This allows for independent sensing of the ground contact position, which, compared to the integrated foot structure of the aforementioned force-equalizing plate, can more accurately determine whether both the forefoot and heel are in contact with the ground. For example, it can more accurately distinguish between a full foot landing and a situation where the center of the foot touches a pebble. It can ensure that when the foot lands in different postures or when different parts of the foot touch objects such as stones or steps, the force-equalizing plate can transmit force upwards through the various points set by the cantilever beam assembly. Furthermore, the split structure of the force-equalizing plate, with the forefoot and heel separated, allows for calculation and analysis of the foot contact position when the foot's contact position is different, providing a reference for robot posture correction. Robots using this foot structure can better analyze the foot contact position when walking on uneven surfaces.

[0058] Furthermore, a hollow section is formed in the middle of the arch 15, and reinforcing ribs are provided within the hollow section to increase the rigidity of the force-equalizing plate. The force-equalizing plate is connected to the foot frame by screws or other fasteners. When the force-equalizing plate contacts the ground, the force is transmitted through the four corners of the forefoot and heel to the various cantilever beam components of the foot frame. If the rigidity of the force-equalizing plate is insufficient, the strain gauge data will differ depending on the hardness of the ground (carpet, marble floor), resulting in different calculated force magnitudes. Therefore, the reinforcing ribs can enhance the rigidity of the force-equalizing plate and improve the adaptability of the foot to different ground surfaces.

[0059] In some optional embodiments, the foot structure may further include a rubber pad 81 disposed on the side of the force-equalizing plate 10 facing away from the foot frame 20. The rubber pad 81 can be used for cushioning the landing of the foot, reducing the instantaneous impact force, and can also enhance the friction between the foot structure and the ground, thereby increasing stability. Optionally, the rubber pad 81 can be a rubber pad. The rubber pad is attached to the underside of the force-equalizing plate 10, and the rubber pad is connected to the metal surface of the force-equalizing plate using connectors such as mushroom studs and glue. The force-equalizing plate is connected to the foot frame by fasteners such as screws. When the force-equalizing plate contacts the ground, the force is transmitted to the cantilever beam assemblies located at the four corners of the foot frame. Optionally, when the force-equalizing plate adopts a split structure, the rubber pad 81 can be provided on both the forefoot and the heel.

[0060] In some optional embodiments, the force-equalizing plate 10 has a recess 16 formed on the side opposite to the foot skeleton 20. When the foot structure walks on uneven terrain, the recess 16 can accommodate obstacles, thus playing a role in obstacle avoidance and ensuring the balance of the foot structure, thereby expanding the applicability of the legged robot. Optionally, the recess 16 is located in the middle of the force-equalizing plate 10, that is, corresponding to the position of the arch 15. When the legged robot steps on an obstacle, it can also make the two ends of the sole of the foot more evenly distributed, ensuring the balance of the foot structure.

[0061] In some optional embodiments, the foot skeleton 20 may also have multiple mounting portions 80 distributed throughout, allowing the foot structure to be assembled and connected to other structural parts of the robot, such as the leg structure, via the mounting portions 80. In this embodiment, the foot skeleton 20 has a mounting portion 80 at each end along the length direction X, and also a mounting portion 80 at each end along the width direction Y. It should be noted that the position and number of the mounting portions 80 can be set according to actual conditions, and this disclosure does not impose any limitations on them.

[0062] This disclosure also proposes a mechanical leg applicable to legged robots. The mechanical leg may include a leg structure and at least one foot structure, the foot structure being connected to the leg structure. It should be noted that the descriptions of the foot structure in the above embodiments and implementations are also applicable to the mechanical leg of this embodiment. The foot structure can be movably connected to the leg structure.

[0063] The mechanical leg adopts the foot structure of the above-described embodiment of this disclosure, with the force detection module located on the cantilever beam assembly. When the sole of the foot is subjected to an external force, the cantilever beam assembly can detect the deformation. At the same time, the external force on the sole of the foot can be transmitted to the positions of each force detection module. That is, the external force on the sole of the foot can be transmitted to the positions of each force detection module through the cantilever beam assembly. The force detection module detects the degree of strain at the cantilever beam assembly, and then obtains the force at the cantilever beam assembly through calibration and algorithm, thereby obtaining the force situation of the sole of the foot, so as to improve the sensing accuracy of the force detection module. This simplifies the structural complexity, improves the integration and space utilization of the foot structure, and reduces the structural volume and weight.

[0064] This disclosure also proposes a legged robot, including at least one mechanical leg. It should be noted that the descriptions of the foot structure and mechanical leg in the above embodiments and implementations are also applicable to the legged robot of this embodiment. Optionally, the legged robot can be a bipedal robot, or it can be a number of other legged robots.

[0065] The legged robot adopts the mechanical leg and foot structure of the above-described embodiments of this disclosure. The force detection module is located on the cantilever beam assembly. When the foot is subjected to an external force, the cantilever beam assembly can detect the deformation. At the same time, the external force on the foot can be transmitted to the positions of each force detection module. That is, the external force on the foot can be transmitted to the positions of each force detection module through the cantilever beam assembly. The force detection module detects the strain at the cantilever beam assembly, and then obtains the force at the cantilever beam assembly through calibration and algorithm, thereby obtaining the force situation of the foot and improving the sensing accuracy of the force detection module. This simplifies the structural complexity, improves the integration and space utilization of the foot structure, and reduces the structural volume and weight.

[0066] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A foot structure, characterized in that, include: A force equalizing plate, wherein a receiving portion is formed by an inwardly recessed middle portion; The foot skeleton is located within the receiving portion and has a gap between it and the force equalizing plate; Multiple cantilever beam assemblies are arranged at circumferential intervals along the foot skeleton; one end of each cantilever beam assembly is connected to the force equalizing plate, and the other end is connected to the foot skeleton. Multiple force detection modules, at least one of the cantilever beam assemblies is provided with at least one of the force detection modules.

2. The foot structure according to claim 1, characterized in that, The cantilever beam assembly includes: A force transmission plate, one end of which is connected to the top surface of the force equalization plate, and the other end of which is connected to the top surface of the foot skeleton; the force detection module is disposed on the force transmission plate; At least one first connector passes through the force transmission plate and is connected to the force equalization plate; At least one second connector passes through the force transmission plate and is connected to the foot skeleton.

3. The foot structure according to claim 2, characterized in that, There are multiple first connectors and multiple second connectors, and the multiple first connectors and multiple second connectors are arranged at intervals along the circumference of the force transmission plate.

4. The foot structure according to claim 3, characterized in that, There are two of each of the first and second connectors, with the two first connectors and the two second connectors distributed at the four corners of the force transmission plate.

5. The foot structure according to claim 2, characterized in that, The force transmission plate includes an elastic metal component; and / or The force detection module is located in the middle of the force transmission plate.

6. The foot structure according to claim 1, characterized in that, There are four cantilever beam assemblies, distributed at the four corners of the foot skeleton.

7. The foot structure according to claim 1, characterized in that, The top surfaces at both ends of the force equalizing plate protrude upwards to form protrusions, and the two protrusions and the force equalizing plate together form the receiving portion.

8. The foot structure according to claim 1, characterized in that, The force detection module is located at the position of maximum strain of the cantilever beam assembly; and / or The force detection module includes a stress plate.

9. The foot structure according to claim 1, characterized in that, There is a first gap between the side wall of the foot skeleton and the inner side wall of the receiving part, and there is a second gap between the bottom wall of the foot skeleton and the bottom wall of the receiving part.

10. The foot structure according to claim 1, characterized in that, The force-equalizing plate is a one-piece molded structure, comprising a forefoot corresponding to the front end of the foot frame, a hindfoot corresponding to the rear end of the foot frame, and an arch connecting the forefoot and the hindfoot. The forefoot, the hindfoot, and the arch are integrally molded; or The force plate includes a forefoot and a rearfoot, which are separately arranged. The forefoot corresponds to the front end of the foot skeleton and is connected to the foot skeleton, while the rearfoot corresponds to the rear end of the foot skeleton and is connected to the foot skeleton.

11. The foot structure according to claim 10, characterized in that, The arch of the foot has a hollow section in the middle, and the hollow section is provided with reinforcing ribs.

12. The foot structure according to claim 1, characterized in that, It also includes a rubber pad disposed on the side of the force equalizing plate opposite to the foot skeleton.

13. The foot structure according to claim 12, characterized in that, The force-equalizing plate is a one-piece molded structure, comprising a forefoot corresponding to the front end of the foot frame, a hindfoot corresponding to the rear end of the foot frame, and an arch connecting the forefoot and the hindfoot. The forefoot, the hindfoot, and the arch are integrally molded; both the forefoot and the hindfoot are provided with the rubber pad; or The force-equalizing plate includes a forefoot and a rearfoot that are separately arranged. The forefoot corresponds to the front end of the foot frame and is connected to the foot frame, while the rearfoot corresponds to the rear end of the foot frame and is connected to the foot frame. Both the forefoot and the rearfoot are provided with the rubber pad.

14. A mechanical leg, characterized in that, It includes a leg structure and a foot structure as described in any one of claims 1 to 13, wherein the foot structure is connected to the leg structure.

15. A legged robot, characterized in that, Includes at least one mechanical leg as described in claim 14.

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