Adjustable foot end of a legged robot

Abstract

The invention discloses an adjustable foot end of a legged robot. The adjustable foot end includes a sole, two front toes and a rear toe; the sole is installed on the bottom of the lower leg of the robot; the two front toes are symmetrically arranged on On both sides of the palm, the rear end of the front toe can be rotatably installed on the sole of the foot, and the front end is fixedly connected together; the top of the front toe control push rod can be rotatably installed on the front side of the robot calf, and the bottom end is connected to the front toe The top of the rod is connected; the front end of the rear toe can be rotatably installed on the sole, and the rear end is connected with the bottom end of the rear toe control push rod; the top of the rear toe control push rod is installed on the rear side of the robot calf; Buffer springs are installed between the front toe control push rod and the front toe connecting rod, and between the rear toe and the rear toe control push rod. The above-mentioned adjustable foot end can solve the problem of poor environmental adaptability of the foot end due to low adhesion and easy slipping on soft, ice and snow road surfaces.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an adjustable foot end of a legged robot. Background technique [0002] Quadruped robot is a kind of mobile legged robot, which can adapt to complex environments and has a wide range of application scenarios. The foot end of the robot is in direct contact with the ground and is an important part for moving, carrying, adapting to the ground and driving. The feet of quadruped robots mainly include cylindrical feet (including semi-cylindrical feet) and spherical feet (including hemispherical feet). The cylindrical foot end and the spherical foot end can achieve a smooth transition with the ground, improving the flexibility and ground adaptability of the foot walking mechanism. The small contact area enables the cylindrical or spherical foot to adapt to various complex ground environments, making it easy to contact the ground at any angle, and there is no restriction on the movement...

AI Technical Summary

Problems solved by technology

[0003] In view of this, the present invention provides an adjustable foot end of a legged robot, which uses push rods to control the relative positions of the front and rear toes and soles to adjust the contact state between the foot end and the ground, thereby Solve the problem of poor environmental adaptability of the foot end due to low adhesion and easy slipping on soft, ice and snow road surfaces

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