Self-Adaptive Robot Foot Structure for Fast Terrain Response
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Solution Overview
Problem
Current robot ankle joints face slow interaction response speed with terrain, inability to arbitrarily switch between point-like and planar feet, and increased foot area leading to leg collision issues.
Innovation Solution
A self-adaptive legged robot mechanical foot with a piston-driven humeral plate system that allows for adjustable toe configuration, including adjustable toe number, length, and angle, along with a spring for buffering and limiting blocks to prevent toe attachment, enabling fast switching between point-like and planar foot modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If active ankle joints are used to detect contact condition and switch foot shape, then the robot can adapt to different terrain, but the response speed is slow and control complexity increases
Solution Approach 1:
The mechanical foot structure automatically adapts its shape based on gravitational force and terrain contact without requiring active sensing or control. The passive ankle joint structure self-adjusts between point-like and planar configurations through mechanical interaction with the ground, eliminating the need for complex control algorithms and sensors.
Solution Approach 2:
The foot structure transitions from a static configuration to a dynamic one where the humeral plates and toes can automatically reconfigure. The passive ankle joint allows the foot to dynamically adapt its shape in real-time through mechanical movement driven by gravitational force and terrain interaction, achieving fast response without active control.
2Stability of the object's composition
If the foot ends are made planar to provide multiple supports for stable standing, then standing stability improves, but collision between support leg and swing leg occurs easily during walking
Solution Approach 1:
The foot is segmented into multiple independent toes that can be individually positioned. During standing, the toes spread out to form a planar structure providing multiple support points for stability. During walking, the toes can be retracted or positioned to minimize the foot's lateral profile, reducing collision risk between support and swing legs.
Solution Approach 2:
The foot structure dynamically changes its configuration between standing and walking phases. The passive ankle joint mechanism allows automatic adjustment of toe positions and foot orientation based on the robot's gait phase and terrain interaction, transitioning from a spread-out planar configuration during standing to a more compact configuration during swing phase.
3Area of stationary object
If the foot ends occupy relatively large space during walking to provide stability, then standing stability is improved, but collision between support leg and swing leg increases
Solution Approach 1:
The foot is divided into multiple segments (toes) that can be independently positioned. During standing, the toes are spread out to maximize the support area for stability. During walking, particularly in the swing phase, the toes can be retracted or positioned closer together, reducing the lateral space occupied and minimizing collision risk with the support leg.
4Device complexity
If passive ankle joints are used, then device complexity is reduced, but arbitrary and fast switching between point-like foot and planar foot cannot be realized
Solution Approach 1:
The passive ankle joint incorporates dynamic elements (humeral plates and toes) that automatically reconfigure based on gravitational force and terrain interaction. This allows the structure to transition between point-like and planar foot modes without active control, achieving fast switching while maintaining mechanical simplicity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances standing stability and interaction response speed with terrain, avoids leg collisions, and adjusts balance through elastic strength adjustment, providing flexibility and adaptability to various operational conditions.
Implementation Method 1
a spring is disposed in the piston to play a role in buffering
Implementation Method 2
The outer layer of the mechanical foot is packaged with an integral elastic film, for preventing gravel and dust from entering a hinge part
Data Source
AI summary
The present disclosure discloses a self-adaptive mechanical foot for the legged robot. The mechanical foot has a piston disposed inside a piston cylinder. The piston is connected to one end of each humeral plate, and the piston cylinder is connected to the other end of each humeral plate. The humeral plates perform opening and closing movement through the up-down movement of the piston in the piston cylinder. The humeral plates are connected to toes on the foot and drive the toes to open and close through the up-down movement. The mechanical foot provided by the present disclosure has higher standing stability and fast interaction response speed when interacting with the terrain. It can realize arbitrary and fast switching between a point-like foot and a planar foot, and meanwhile avoids collision between a support leg and a swing leg.