Human Shaped robot foot and foot force information detecting method

Abstract

A robot's foot with the shape similar to that of human foot is composed of rubber sole plate under foot plate, foot plate, switch plate, six-component sensor, rubber ring between said foot plate and lower flange, lower flange between foot plate and six-component sensor, upper flange between six-component sensor and switch plate and connected to malleolus joint of robot, and signal processing circuit integrated in said six-component sensor.

Description

technical field [0001] The invention relates to the field of automation control, in particular to a foot of a humanoid robot in the field of robot application and a method for detecting foot force information during walking. technical background [0002] Biped humanoid robot is a comprehensive discipline integrating bionics, mechanics and control engineering. It not only involves linear, nonlinear, control based on multiple sensor information and real-time control technology, but also includes Modeling of complex electromechanical systems, digital simulation technology, hybrid system control research and other technologies. [0003] In recent years, especially after the P2 launched by Japan's Honda in December 1996 and the P3 anthropomorphic biped walking robot launched later, the research on humanoid biped robot technology reached a climax again in the world. However, the research on biped humanoid robot is far from practical application, and there are many problems to be ...

AI Technical Summary

Problems solved by technology

[0005] For the first method, since the traditional wrist force sensor is directly used for foot force measurement, the structure and range of the sensor cannot meet the requirements, especially ZMP represents the point where the torque component with the ground is zero, and this structure makes the sensor’s The distance between the coordinates and the ground requires additional calculations to get the ZMP trajectory

[0006] For the second method, the problem is more prominent. The main reason is that the inaccuracy of the model brings a large error, and the joint motion parameter itself is a controlled quantity. This method based on the calculated ZMP trajectory is used for walking. The gait planning in the process will inevitably bring about a large calculation error, and it will also inevitably bring about instability in the walking process of the humanoid robot.

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