Foot of humanoid robot and control method thereof

Abstract

The invention discloses the foot of a humanoid robot and a control method of the foot of the humanoid robot. The foot of the humanoid robot is characterized in that an upper disc body is arranged to serve as an ankle bone, the rear end face of the ankle bone is a plane, the front end face of the ankle bone is in a V shape when the front end face of the ankle bone is overlooked, an outer front end face body and an inner front end face body are symmetrically arranged on the V-shaped front end face, the ankle bone is supported in a three-force-point mode through three rod pieces on the rear end face and the front end face of the ankle bone, the three rod pieces refer to a heel bone, an inner metatarsal bone and an outer metatarsal bone, a rear planta pedis stress triangle is formed with the lower end of the ankle bone as a rear vertex and a point head facing backwards, and the upper end face of the ankle bone is connected with the lower limbs of the robot through ankle joints. According to the foot of the humanoid robot and the control method of the foot of the humanoid robot, linear driving devices are arranged on the lower limbs of the robot, all components are driven through flexible ropes according to set actions, and thus rotation of the foot joints of the robot is driven and controlled.

Description

technical field [0001] The invention discloses a humanoid robot foot with the walking ground-touching behavior mode and performance of the bionic human foot, which belongs to the field of bionic machinery. Background technique [0002] Humanoid robots are robots designed and manufactured to imitate human shapes and behaviors. Humanoid robots have strong environmental adaptability and wide application potential, but stiff walking gait and poor walking stability have always been the bottlenecks that curb their wide application. . Therefore, the design research of the bionic robot foot is one of the breakthrough points to improve and enhance the walking stability of the robot. Designing a bionic foot with the functional characteristics of human feet is one of the breakthrough points to improve the walking stability of humanoid robots and enhance the environmental adaptability of humanoid robots, and it is an important point to promote humanoid robots to the application field. ...

AI Technical Summary

Problems solved by technology

The existing problem is: the foot structure proposed at present cannot well imitate the whole process of the foot contacting the ground when the human body walks, and cannot absorb the impact and vibration of the ground well, so it cannot simulate the walking from the heel to the toe The gait characteristics when leaving the ground cannot cope with complex ground conditions, which affects the stability and flexibility of the robot's walking

Since the active joints of most robot feet are not linearly driven and controlled, and the degree of freedom of the foot structure is small, the control system of the foot structure is very complicated, and it does not have the active flexibility and passive stability of the human foot, resulting in the robot walking poor gait adjustment

Images