The invention relates to a humanoid robot foot structure passively adapting to uneven ground, the structure is divided into a half sole part and a waist heel part, one end of the half sole part is provided with three toes, and each toe is connected with a metatarsal bone through a two-degree-of-freedom elastic assembly; the metatarsal bone at the other end is rotatably connected with the scaphoid bone through a second connecting shaft and two torsional springs; the scaphoid bone and the heel bone of the waist and heel part are rotatably connected with two torsional springs through a third connecting shaft to form a first part of the arch structure; and the sole long ligament is connected with the scaphoid bone and the heel bone through two elastic elements respectively to form a second part of the arch structure. The foot structure adopts a three-section type design, in the moving process of the robot, the foot postures are passively adjusted through a plurality of torsional springs and elastic elements, the buffering effect is achieved when the foot is subjected to the ground acting force, self-adaption to the uneven ground is achieved, and the flexibility, stability and environment adaptability of the foot of the humanoid robot are improved.
本发明涉及一种被动适应非平整地面的仿人机器人足部结构,该结构分为前掌部件和腰跟部件:前掌部件一端有三根脚趾,每根脚趾通过二自由度弹性组合件和跖骨连接;另一端的跖骨通过第二连接轴和两跟扭簧与舟骨可转动连接;腰跟部件的舟骨和踵骨通过第三连接轴和两个扭簧可转动连接,构成足弓结构的第一部分;足底长韧带通过两个弹性元件分别与舟骨和踵骨连接,构成足弓结构的第二部分。该足部结构采用三段式设计,在机器人运动过程中,足部通过若干扭簧和弹性元件被动调整足部姿态,在受到地面作用力时起到缓冲作用,实现对非平整地面的自适应,提高仿人机器人足部的灵活性、稳定性以及对环境适应力。
Humanoid robot foot structure passively adapting to uneven ground
一种被动适应非平整地面的仿人机器人足部结构
2023-04-04
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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