The invention relates to a flexible passive foot
system based on
bionics, comprising a flexible
toe joint and a lateral
cushioning shock absorbing layer, which enables the foot to have the functions of stable support,
cushioning shock absorbing and
energy storage. The flexibility of the
toe joint is provided by a compression spring parallel to the sole of the foot, and the
toe portion is connectedto the sole of the foot by a
crank linkage mechanism. The shock-absorbing springs are symmetrically distributed in the upper and lower
layers of the foot, which is helpful to enhance the stability ofthe
robot when walking on uneven ground, and can effectively eliminate the
impact of the ground on the foot when walking. The invention realizes the degree of freedom of flexion and extension of thetoe joint and the lateral passive degree of freedom of the foot through the compression and extension functions of the compression spring, and simultaneously utilizes the
energy storage characteristics of the spring to enable the foot to have the functions of
cushioning, shock absorption and energy saving, so that the walking stability of the
robot can be improved and the
energy loss can be reduced. Compared with the
foot structure of the traditional
robot, the invention has the advantages of good
imitation of human nature, high walking stability,
high energy efficiency, compact structure andgood adaptability.