A flexible passive foot system based on bionics

Abstract

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.

Description

technical field [0001] The invention relates to a flexible passive foot system based on bionics, which belongs to the technical field of robots. Background technique [0002] Humanoid robots are the most advanced manifestation in the field of robot technology development at present. They have a humanoid appearance and imitate human beings in terms of structure and walking style. The core technology and research difficulty of the stable operation of humanoid robots is to realize stable bipedal walking. [0003] From a biomechanical point of view, biped walking can be divided into motion based on active control and motion based on passive walking. The disadvantages of these two methods are: large energy consumption, low efficiency, high performance requirements for the driver, unnatural gait, and a large difference from actual human motion. The development trend of biped walking robots in the future is to combine active control and passive walking to produce robots with high...

AI Technical Summary

Problems solved by technology

The disadvantages of these two methods are: high energy consumption, low efficiency, high performance requirements for the driver, unnatural gait, and a large difference from actual human motion

[0004] Chinese Patent No. CN101823517B has invented a double-layer shock-absorbing foot structure with a sole anti-slip shock-absorbing pad and a shock-absorbing six-dimensional moment sensor support. The foot can reduce the impact on the robot in the vertical direction, but six The dimension torque sensor is installed on the second floor shock absorber, the measured foot torque parameters are not accurate enough, and the passive degree of freedom of the foot is relatively single

[0005] Chinese Patent No. CN103738428A has invented a foot structure that is composed of metatarsophalangeal joints, heels and ankle joints and provides flexibility through torsion springs. The foot has humanoid metatarsophalangeal joints, but the contact with the ground is Line contact, unstable support

At the same time, in this patent, the torsion spring is used to provide flexibility for the metatarsophalangeal joint. When used in actual robot experiments, the energy stored in the torsion spring is not easy to calculate, resulting in poor repeatability of the experiment.

[0006] At present, the foot structures of common biped robots are mostly rigid structures, and flexible feet with a single passive degree of freedom in the vertical direction or lateral direction. The rigid foot structure has a greater impact on the robot and is stable during walking. The flexibility is also relatively poor; and the flexible foot with a single passive degree of freedom has poor functionality

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