The invention discloses an integrated ankle-foot system for improving walking stability of a biped robot. The integrated ankle-foot system comprises a robot shank and ankle drive transmission system, a two-degree-of-freedom ankle joint, a bionic design foot and a foot sensing and data processing module, wherein the ankle drive transmission system is integrated in the internal space of a shank, the foot sensing and data processing module is integrated in a foot body, and the whole system is compact in design and high in integration degree. The foot part comprises a half sole passive joint and a heel buffering module, the road surface impact on the foot part can be effectively buffered, human gait-simulated walking is achieved, and the stability and the movement capacity of the robot are improved. A parallel linear driving system is integrated at the shank of the system, so that the ankle drive performance is ensured, and meanwhile, the exposure of parts of a driving transmission system is reduced. Various sensors in the system are used for collecting posture information of the road surface and the ankle-foot system, and adaptive posture adjustment of the ankle-foot system on the uneven road surface is achieved through the data processing module.

    本发明公开了一种用于改善双足机器人行走稳定性的一体化踝足系统,该系统包括机器人小腿及踝部驱传动系统、二自由度踝关节、仿生学设计足部、足部感知与数据处理模块;其中踝部驱传动系统集成于小腿内部空间,足部感知与数据处理模块集成于足部本体,整套系统设计紧凑且一体化程度高。所述足部包含前掌被动关节和后跟缓冲模块,可有效缓冲足部受到的路面冲击,并实现仿人步态行走,提高机器人稳定性和运动能力。该系统小腿处集成并联直线驱动系统,保证踝部驱动性能的同时,减少驱传动系统部件外露。系统内部的各类传感器用于采集路面和踝足系统本身姿态信息,并通过数据处理模块,实现在非平整路面下对踝足系统的自适应性姿态调整。


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    Title :

    Integrated ankle-foot system for improving walking stability of biped robot


    Additional title:

    一种用于改善双足机器人行走稳定性的一体化踝足系统


    Contributors:
    SHEN FANGYAN (author) / NIE DAMING (author) / DU RUILONG (author) / GU JIANJUN (author)

    Publication date :

    2022-02-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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