Foot structure of biped robot and all-terrain pavement adaptation method thereof

Abstract

The invention relates to a foot structure of a biped robot and an all-terrain pavement adaptation method thereof. When the biped robot adopting the foot structure walks on a non-flat road surface, active adaptation can be conducted according to the actual terrain of the road surface, the corresponding posture is adjusted in time, the standing and walking stability of the biped robot is rapidly andeffectively improved, and the problems, for example, that when the biped robot walks on the uneven road surface, the foot ground contact area is small, and overall balance is difficult to maintain are solved. According to the all-terrain road surface adaptive foot structure, the foot bottom is divided into four areas, and the four areas are independently stressed and deformed, so the foot of therobot is kept in good contact with the ground on the uneven road surface; and meanwhile, the situation that the foot touches the ground is obtained through the force measuring sensors distributed in the four areas of the foot, the actual topographic distribution of the foot is speculated according to the situation, related joints of the robot are driven to be adjusted, and active adaptation of thefoot and the overall posture of the robot to the uneven road surface is completed.

Description

technical field [0001] The invention relates to a foot structure of a biped robot and an all-terrain road adaptation method thereof, belonging to the technical field of robots. Background technique [0002] The biped robot is a robot that imitates the human body structure and walking gait. Its advantages lie in the excellent obstacle-surmounting ability and powerful movement ability brought by the leg-foot structure. The current biped robots have the ability to walk stably on flat roads. Some biped robots can imitate human walking gait to a certain extent, and the design of the foot structure is also various, but most of the foot The integrated structure is adopted, and the ankle joint motor is often used for frequent adjustments when encountering uneven road surfaces, or only the elastic deformation of the sole material and the deflection of the ankle joint are used to resist the impact caused by uneven road surfaces. The former has high requirements on the control of the ...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the above-mentioned problems existing in the feet of existing biped robots, and at the same time aiming at the current situation that most biped robots can only walk stably on flat ground, and the problem that biped robots are difficult to maintain balance and prone to fall when the road terrain changes , the present invention provides a foot structure with effective all-terrain road adaptability and a road adaption method suitable for the walking mode of the existing biped robot. When facing the ground, the feet can still touch the ground well, protecting the driving joints of the robot while maintaining the stability of the robot's walking

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