Robot Foot Pressure Sensing Using Cantilever Deformation
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Solution Overview
Problem
Existing technologies face challenges in accurately determining pressure and pressure distribution at the bottom of a robot's foot due to the presence of numerous joints, leading to instability in robot motion.
Innovation Solution
A method and device that utilize cantilever devices on the robot's foot to measure deformation parameters, allowing for the determination of pressure and pressure positions through predetermined correspondence relationships between deformation and pressure, thereby avoiding the need to rely on excessive joints for pressure detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If joint-based pressure detection methods are used, then pressure information can be obtained, but the determination accuracy is poor due to numerous joints causing signal loss and distortion
Solution Approach 1:
The patent extracts the pressure detection function from the joint chain and relocates it directly to the foot bottom through cantilever beams. This eliminates the signal loss and distortion caused by multiple joints, as the cantilever devices are positioned at the measurement location (foot bottom) to directly sense pressure without transmission through joint mechanisms.
Solution Approach 2:
The patent introduces cantilever beams as intermediary elements between the foot bottom and the detection system. These cantilever beams serve as mechanical mediators that directly convert pressure at the foot bottom into measurable deformation, bypassing the joint-based transmission path that causes signal degradation.
2Reliability
If joint-based pressure detection is used, then pressure information can be obtained, but robot motion stability deteriorates due to inaccurate pressure distribution data
Solution Approach 1:
The patent extracts pressure detection from the joint chain and places it directly at the foot bottom using cantilever beams. This provides accurate real-time pressure distribution data that directly reflects the actual contact state, enabling reliable motion control and stability maintenance.
Solution Approach 2:
The cantilever beams on the foot bottom serve themselves as both the sensing element and the structural element. They directly experience the pressure and convert it to measurable deformation, providing self-contained pressure detection that accurately reflects the foot's interaction with the ground for stable motion control.
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
This approach enables accurate and intuitive determination of pressure and pressure positions, improving the stability of robot motion by bypassing the limitations of joint-based pressure detection methods.
Implementation Method 1
obtaining a deformation parameter corresponding to at least one cantilever device on a robot foot device, where the deformation parameter represents a deformation state of the cantilever device generated in a case where the robot foot device is subjected to the pressure
Data Source
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AI summary
A method and device for determining a pressure, robot, medium and product, relate to the technical field of robots, where the method includes: obtaining (S11) a deformation parameter corresponding to at least one cantilever device on a robot foot device, where the deformation parameter represents a deformation state of the cantilever device generated in a case where the robot foot device is subjected to the pressure; determining (S12) a target position where the robot foot device is subjected to the pressure according to the deformation parameter; and determining (S13) a target pressure corresponding to the target position according to the deformation parameter and the target position.