The invention discloses a robot foot and a robot with the same. The robot foot comprises an ankle unit, a mounting unit and a foot pad, the ankle unit is fixedly connected with the mounting unit, the mounting unit is provided with a plurality of sensors and a plurality of via holes, and the sensors are selectively arranged at the positions of the corresponding via holes and used for detecting stress data of the foot. The foot pad is of a hollow structure and comprises a fixing part and a contact part, the foot pad is connected to the mounting unit and/or the ankle unit through the fixing part, the contact part is an elastic part, and the inner side of the contact part and the outer side of the supporting part of the mounting unit are arranged oppositely and keep a certain gap. The sensors are correspondingly arranged at the via holes of the mounting unit, so that the stress data of the feet of the robot can be detected, the robot can detect and judge the condition of the contact surface in real time, and optimization can be provided for gait accuracy, posture pre-judgment, early warning, obstacle avoidance, path planning and the like of the robot, so that the movement capability of the robot on a contact surface in a complex environment can be improved.

    本发明一种机器人足部和具有其的机器人,包括:脚踝单元、安装单元和脚垫,脚踝单元与安装单元固定连接,安装单元上设有多个传感器和多个过孔,传感器可选择性的设置在对应的过孔位置处,用于检测足部的受力数据。脚垫为中空结构且包括:固定部和接触部,脚垫通过固定部连接于安装单元和/或脚踝单元,接触部为弹性件,接触部的内侧和安装单元的支撑件的外侧正对设置并保持一定间隙。通过使用传感器对应的设置在安装单元的过孔处,可对机器人足部的受力数据进行检测,从而机器人可对接触面的情况进行实时检测判断,可为机器人步态精准、姿态预判、预警、避障和路径规划等提供优化,从而可提升机器人在复杂环境的接触面上的运动能力。


    Access

    Download


    Export, share and cite



    Title :

    Robot foot and robot with same


    Additional title:

    机器人足部和具有其的机器人


    Contributors:
    PAN ZHIYUAN (author) / XUE ZHEN (author)

    Publication date :

    2021-10-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Robot bionic foot and robot with same

    ZHANG XIULI / HUANG SENWEI | European Patent Office | 2020

    Free access

    ANGLE-CONTROLLABLE ROBOT PASSIVE FOOT AND ROBOT USING SAME

    CHEN XUECHAO / HAN LIANQIANG / HE PENGFA et al. | European Patent Office | 2022

    Free access

    ROBOT FOOT

    CHOI YOUNGJIN / KIM KYUNGTAE | European Patent Office | 2023

    Free access

    ROBOT FOOT

    European Patent Office | 2024

    Free access

    Leg structure of wheel-foot robot, wheel-foot robot and four-wheel-foot robot

    CHEN JIAN | European Patent Office | 2024

    Free access