The invention provides a multifunctional foot end, belongs to the field of robots, and mainly solves the problems of terrain gradient estimation and foot end state judgment of a foot type robot. According to the multifunctional foot end, robot terrain estimation, foot end ground contact detection and foot end sliding detection functions are integrated, robot ground contact detection is carried out by using an air bag compressed air pressure change principle, terrain gradient estimation and foot end sliding detection are carried out by using an inertial measurement unit, and integrated processing is carried out. The multifunctional foot end has the advantages of being simple in structure, convenient to detect, high in reliability and low in cost, and improves the accuracy of robot terrain gradient estimation and foot end state detection.

    本发明提供了一种多功能足端,属于机器人领域,主要解决足式机器人地形坡度估计和足端状态判别的问题。本发明将机器人地形估计、足端触地检测和足端滑动检测功能集成于一体,利用气囊压缩气体压力变化原理进行机器人触地检测,利用惯性测量单元进行地形坡度估计和足端滑动检测,并进行了集成处理。该发明具有结构简单、检测方便、可靠性高、成本低的优点,提高了机器人地形坡度估计和足端状态检测的准确性。


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    Title :

    Multifunctional foot end


    Additional title:

    一种多功能足端


    Contributors:
    SUN GUITAO (author) / SI JUNSHAN (author) / ZHANG QIANG (author)

    Publication date :

    2021-07-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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