A foot contact detection mechanism suitable for legged robots

Abstract

The invention discloses a foot earth contact detection mechanism suitable for a legged robot. The foot earth contact detection mechanism suitable for the legged robot is characterized in that an inner thread copper pillar (5) is installed on an A connection rod (1C) of a foot strut (1), a spring (4) sleeves a B connection rod (1D) of the foot strut (1), and is located between the inner thread copper pillar (5) and a fixing seat (3), an A copper pillar (6) and a B copper pillar (7) are installed on the fixing seat (3), the A copper pillar (6) is connected with a positive pole of a 5V power source, the B copper pillar (7) is connected with a signal detection input / output port, the fixing seat (3) is installed on the lower portion of a connection seat (2), and a B connection rod (1D) of the foot strut (1) passes through an A center through hole of the connection seat (2), and then is connected with a nut (8) through a thread. The foot earth contact detection mechanism suitable for the legged robot achieves a contact switch function through electric signal connections and disconnections of the A copper pillar (6), the B copper pillar (7) and the inner thread copper pillar (5) , and thereby detects earth contact and lifting status of a foot of the legged robot in real time.

Description

technical field [0001] The present invention relates to a foot unit of a legged robot, more particularly, a foot contact detection mechanism suitable for a legged robot. Background technique [0002] A legged robot includes a torso and legs connected to the torso. At present, the main legged robots mainly include biped robots, quadruped robots, hexapod robots and eight-leg robots. Each leg includes a plurality of links. Adjacent links are jointed together for movement. [0003] January 2006, Volume 28, Issue 1 "ROBOT", titled "Research Review of Legged Robots", authored by Liu Jing, Zhao Xiaoguang, Tan Min. It is pointed out that the body of the legged robot is separated from the ground, and the advantage of this mechanical structure is that the body of the robot can move in a balanced manner regardless of the roughness of the ground and the placement of the legs. The gait planning algorithm of the legged robot is based on the idea that the position of the end of the leg...

AI Technical Summary

Problems solved by technology

However, this type of sensor is expensive and has high requirements for installation and use. Therefore, improving the touch sensing method of the sole of the robot has become an important issue in the design of the legged robot mechanism.

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