Dual-Servo Foot Structure for Humanoid Robot Ankle
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Solution Overview
Problem
Conventional humanoid robots have limited flexibility due to the presence of only one servo at the foot, restricting their movement and action.
Innovation Solution
A foot structure for humanoid robots that includes a first servo on the foot assembly and a connecting assembly with a second servo, allowing for rotational movement at the ankle, thereby increasing the degree of freedom and flexibility by enabling rotations around two axes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If only one servo is mounted on the foot assembly, then the device complexity is reduced, but the flexibility and degree of freedom of the humanoid robot deteriorates
Solution Approach 1:
The foot structure is segmented into two functional modules: a foot assembly with a first servo for plantar-dorsal rotation, and a connecting assembly with a second servo for inversion-eversion rotation. This segmentation allows each servo to independently control a specific degree of freedom, achieving enhanced flexibility without excessive overall complexity.
Solution Approach 2:
The invention adds another dimension of motion by introducing the connecting assembly that enables inversion-eversion rotation perpendicular to the plantar-dorsal rotation axis. This transforms the foot structure from single-axis to dual-axis rotation, significantly improving adaptability for complex humanoid movements.
2Ease of manufacture
If one servo is mounted on the foot assembly, then the manufacturing cost is reduced, but the movement capability of the humanoid robot deteriorates
Solution Approach 1:
The foot structure is divided into two functional modules: a foot assembly with a first servo for plantar-dorsal rotation, and a connecting assembly with a second servo for inversion-eversion rotation. This segmentation allows each servo to independently control a specific degree of freedom, achieving enhanced flexibility without excessive overall complexity.
Solution Approach 2:
The invention adds another dimension of motion by introducing the connecting assembly that enables inversion-eversion rotation perpendicular to the plantar-dorsal rotation axis. This transforms the foot structure from single-axis to dual-axis rotation, significantly improving adaptability for complex humanoid movements.
3Adaptability or versatility
If a dual-servo foot structure is implemented, then the flexibility and degree of freedom are improved, but the device complexity increases
Solution Approach 1:
The connecting assembly merges the second servo, its mounting structure, and the rotation mechanism into an integrated unit that connects the foot assembly to the leg structure. This merging approach consolidates multiple components into a cohesive assembly, reducing overall structural complexity while maintaining dual-degree-of-freedom capability.
Solution Approach 2:
The connecting assembly serves multiple functions: it mounts the second servo, enables inversion-eversion rotation, provides structural support between foot and leg, and facilitates perpendicular rotation relative to the first servo's axis. This multi-functionality reduces the need for separate components, simplifying the overall structure.
Data Source
AI summary
A foot structure for contacting the ground and connecting to a leg structure of a humanoid robot, includes: a foot assembly for contacting the ground; a first servo mounted on the foot assembly and including a first output shaft; a connecting assembly rotatably connected to the foot assembly and to constitute an ankle portion; and a second servo mounted on the connecting assembly and connected with the leg structure, the second servo including a second output shaft perpendicular to the first output shaft; the connecting assembly being arranged perpendicularly to the foot assembly and including a first connecting structure used to mount the first output shaft and rotatably connected to the foot assembly, and a second connecting structure connected to the first connecting structure and used to mount the second output shaft.