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Flexibly landed foot mechanism of humanoid robot

A humanoid robot and flexible technology, applied in the field of humanoid robots, can solve the problems of cumbersome operation and limited impact absorption effect, and achieve the effect of slowing down the compression stroke, bearing large load and small space

Inactive Publication Date: 2014-03-05
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This invention mainly relies on the bottom layer of the rubber foot to absorb the impact force when the foot touches the ground, and the effect of impact absorption is very limited
And if you want to change the flexibility of the impact-absorbing mechanism, you must thicken or thin the entire rubber sole, which is cumbersome in practice.

Method used

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  • Flexibly landed foot mechanism of humanoid robot
  • Flexibly landed foot mechanism of humanoid robot
  • Flexibly landed foot mechanism of humanoid robot

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with accompanying drawing

[0027] Such as figure 1 As shown, the foot mechanism of the humanoid robot for flexible landing according to the present invention includes a multidimensional flexible hinge 1, sole plate 2, middle layer rubber pad 7, bottom rubber pad 8, six-dimensional force / torque sensor 9, ankle support seat 10.

[0028] The sole plate 2 is fixedly connected with the multidimensional flexible hinge 1, the ankle support seat 9 is fixedly connected with the multidimensional flexible hinge 1 through the six-dimensional force / torque sensor 10, and the bottom rubber pad 8 is fixedly connected with the sole plate 2 through the middle layer rubber pad 7.

[0029] Such as figure 2 As shown, the humanoid robot foot mechanism for flexible landing also includes flat-to-top wave springs (flat-to-top wave springs 3 with an outer diameter of 35mm, flat-to-top wave springs with an outer diameter...

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Abstract

The invention relates to a flexibly landed foot mechanism of a humanoid robot. Shock absorption effect of feet of current robots is poor. The flexibly landed foot mechanism of the humanoid robot comprises an upswept sole plate, a bottom layer rubber gasket, a middle layer rubber gasket, a flat end opposite vertex waveform spring, a coating piece, a multi-dimensional flexible hinge, a six-dimensional force / torque sensor and an ankle support base. The multi-dimensional flexible hinge is fixedly arranged above the sole plate, and the ankle support base is connected with the multi-dimensional flexible hinge through the six-dimensional force / torque sensor. The bottom layer rubber gasket and the middle layer rubber gasket are arranged from top to bottom below the sole plate sequentially. The flexibly landed foot mechanism of the humanoid robot provided by the invention has the advantages of large bearing load, short stroke, small space required and the like, and the capacity of feet for absorbing shock is increased greatly.

Description

technical field [0001] The invention belongs to the technical field of humanoid robots, and relates to a humanoid robot foot mechanism for flexible landing. Background technique [0002] Humanoid robot is one of the most active research directions in the field of robot research. It is an advanced platform for the study of human intelligence, which integrates the complex intelligence of various disciplines such as machinery, electronics, computers, sensors, control technology, artificial intelligence, and bionics. mechanical. A humanoid robot has the appearance of a human, and has the functions of movement, operation, associative memory, learning ability, emotional communication, social ability and the closest intelligent robot with some human experience. [0003] Humanoid robots are different from general industrial robots because they are no longer fixed in one position. This robot has a flexible walking system so that it can go where it is needed at any time, including so...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
Inventor 周建军明瑞松黄共乐
Owner HANGZHOU DIANZI UNIV
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