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Novel flexible foot system of human-imitated robot

A humanoid robot and flexible foot technology, applied in the field of humanoid robots

Inactive Publication Date: 2010-01-06
BEIHANG UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a more effective humanoid robot flexible foot system to solve the matching problem between the foot mechanism and the uneven ground, and to realize the characteristics of automatically adapting to the uneven surface topography with function

Method used

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  • Novel flexible foot system of human-imitated robot
  • Novel flexible foot system of human-imitated robot
  • Novel flexible foot system of human-imitated robot

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Embodiment Construction

[0028] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

[0029] see figure 1 , a flexible foot system for a humanoid robot, comprising sole plates 5, 7, 12, 13, a supporting spindle 8, and a micro-motor drive system 9. Flexible cable passes through by micro-motor drive system, penetrates by hole 10,11, is consolidated in flexible cable buckle 14,15 on the sole plate. Foot sole plate 5,7,12,13 front bottom respectively is provided with a slide block 3, must keep certain tension force because of soft cable, slide block 3 directly links to each other with spring damping system 4 by hook, realizes single flexible cable driving mode. In addition, a force sensor 2 is provided in the inner cavity of the slider 3, and the slider 3 can move forward and backward, and the ground information is fed back through the force sensor to seek the optimal contact point ...

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Abstract

The invention discloses a flexible foot system of a human-imitated robot, mainly comprising four small foot bottom plates, a support main shaft and a micro-motor driving system. The flexible foot system is characterized in that each novel flexible foot comprises the four small foot bottom plates which can independently pitch up and down, and is connected with the support main shaft by a rotation pair and is provided with a torsional spring, so that the feet can ensure a certain starting pose and a certain starting force; a pair of spring damping fasteners are arranged below each foot bottom plate and is driven through a flexible rope by a miniature motor, and a front end grounding slide block connected with a spring is pulled to move back and forth so as to realize the adjustment of a contact position according to the concave and convex status of the ground; four designed flexible feet pitch around a Y shaft, the other four designed flexible feet move along an X shaft, the designed flexible feet totally have eight degrees of freedom, thereby ensuring the four-point contact between the feet and the concave and convex ground; and the invention successfully solves the problem that the foot bodies of the human-imitated robot and a ground environment uncertain model are not matched, and can enable the human-imitated robot to adapt to more uncertain environments.

Description

1. Technical field [0001] The invention relates to the technical field of humanoid robots, in particular to a novel flexible foot system of humanoid robots. 2. Background technology [0002] Humanoid robots are "robots" in a literal or narrow sense, and their research and development represent the cutting-edge level of robotics. The environment and various tools in modern society are designed for human beings. For the movement of non-humanoid robots such as wheeled mobile robots, obstacles need to be cleared, narrow aisles need to be widened, etc., all of which require additional cost, so there is no need to change the human environment for the robot only if the robot has the shape of a human and can act like a human. Developing a humanoid robot is more cost-effective than modifying the entire environment and changing tools. [0003] Stable walking of humanoid robots on flat ground is no longer a problem, but to realize that humanoid robots can go where they need to at any...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
Inventor 帅梅魏慧吕一松邱振
Owner BEIHANG UNIV
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