The invention provides a multifunctional robot foot end, belongs to the field of robots, and mainly solves the problems of poor ground contact state detection reliability, complex structure and high cost of an existing foot type robot foot end. According to the invention, a robot foot end ground contact detection function and a foot end sliding detection function are integrated, the robot ground contact detection is carried out by using the air bag compressed air pressure change principle, the foot end sliding detection is carried out by using the angular velocity and acceleration information of an inertial measurement unit, and integrated processing is carried out. The multifunctional robot foot end has the advantages of being simple in structure, convenient, high in reliability and low in cost, and the accuracy of robot foot end state detection is improved.

    本发明提供了一种多功能机器人足端,属于机器人领域,主要解决现有足式机器人足端触地状态检测可靠性差、结构复杂、成本高的问题。本发明将机器人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,利用惯性测量单元的角速度和加速度信息进行足端滑动检测,并进行了集成处理。该发明具有结构简单、方便、可靠性高、成本低的优点,提高了机器人足端状态检测的准确性。


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    Title :

    Multifunctional robot foot end


    Additional title:

    一种多功能机器人足端


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

    Publication date :

    2021-07-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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