The invention discloses a
humanoid robot bionic foot with autonomous
terrain testing capability, which comprises a front sole component and a rear sole component which are flexibly connected through a sole
fascia, a support connecting frame is hinged with an arch component to form a space transmission structure, and the support connecting frame and the arch component cooperate with the
fascia to form an arched composite support. The
locust-imitating foot pad has the innovation points that the
locust-imitating foot pad realizes segmented flexible and local fitting buffering; the pelma
fascia and the arch-shaped arch absorb
impact in the initial
gait stage, and
rigid body transmission is reduced; the dorsal
muscle imitating elastic sheet and the
achilles tendon imitating elastic sheet store and release energy in the second half of the
gait, and the dynamic stability is improved; pressure sensors are arranged at three points of the front / rear sole and the
ankle joint, a space stress model is constructed, distribution of the force center and the touchdown point of the sole is analyzed in real time, and the
terrain state is judged. Through structure-sensing
coupling, the foot can autonomously judge the
terrain under the non-driving state, passive foot landing
adaptation is achieved, environment dependence is simplified, and the application range is wide. And the walking robustness under the complex terrain is improved.